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One thing about self driving cars is they need the ability to command the electric power steering system. I worked in EPAS for 6 years and it was a big deal whe
by phkahler 3y ago
One thing about self driving cars is they need the ability to command the electric power steering system. I worked in EPAS for 6 years and it was a big deal when customers started wanting to do that due to liability. My guess - and it's only a guess - would be that some situation is leading to normal epas operation getting disabled but self driving not enabled. Not sure whose steering gear they use.
- dymk 3y agoMy understanding of the Tesla EPS system (this is also a guess, based on discussion observed between Comma 3X devs working on Tesla integration) is that there's not a separate mode it operates in while under FSD is enabled. That's in part how the safety of the EPS is validated independent of the LKAS - driver should always be able to easily overpower it. Contrast this with other car models with a "parking mode" for their EPS, which operate under greatly increased torque limits. Clearly something is going wrong if drivers have to fight hard against the EPS, but FSD shouldn't be able to do anything that a typical LKAS can't either, safety guardrails included. (also, thanks for your work on solvespace, great piece of software)
- vrc 3y agoThe wheel in FSD is hard to take control over and when you do it goes absolutely slack leading to an overcorrection. Even after having my car for years it still does a wiggle when this happens. Not sure if that’s what you’re saying shouldn’t happen. Doesn’t happen with my CRVs LKAS