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Improving torque vectoring(ESC)(ASR)

Discussion in 'Troubleshooting: Bugs, Questions and Support' started by Passat Alltrack, Mar 13, 2019.

  1. Passat Alltrack

    Passat Alltrack
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    Joined:
    Jun 7, 2016
    Messages:
    35
    Hello, I want to improve the torque vectoring on vehicles with ESC and open diffs. As they are stock, they just apply a little bit of brake, but very often not enough to get out of tricky situations. I have tried playing around a little, and it got slightly better. However not as good as I want.

    This is the stock Regular ESC in the ETK 800:
    //TCS
    "slipThreshold": 0.15,
    "minThrottleFactor": 0.05,
    "maxBrakingFactor": 0.85,
    "throttleProportionalFactor": 2.0,
    "throttleIntegralFactor": 2,
    "brakingProportionalFactor": 2,
    "brakingIntegralFactor": 1.5,
    "brakeThrottleSwitchThreshold": 20,

    This is my version so far, I call it Offroad ESC:
    //TCS
    "slipThreshold": 0.10,
    "minThrottleFactor": 1,
    "maxBrakingFactor": 1,
    "throttleProportionalFactor": 0,
    "throttleIntegralFactor": 0,
    "brakingProportionalFactor": 3,
    "brakingIntegralFactor": 1,
    "brakeThrottleSwitchThreshold": 20,

    And this is the sports ESC:
    //TCS
    "slipThreshold": 0.35,
    "minThrottleFactor": 0.35,
    "maxBrakingFactor": 1,
    "brakeThrottleSwitchThreshold": 60,

    I guess the main problem is that I do not understand what these mean and how they can help me achieve what I want. I tried messing around a little, but little seemed to change.
    "throttleProportionalFactor": 0,
    "throttleIntegralFactor": 0,
    "brakingProportionalFactor": 3,
    "brakingIntegralFactor": 1,
    "brakeThrottleSwitchThreshold": 20,


    When I steer it is really aggressive transferring torque to the outside wheels, which could be used to get unstuck, but I want it to happen automatically while going straight
    a smooth build up in brake pressure on the spinning wheel would be cool to.
     
    #1 Passat Alltrack, Mar 13, 2019
    Last edited: Mar 13, 2019
    • Agree Agree x 1
  2. Capkirk

    Capkirk
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    Joined:
    Nov 19, 2017
    Messages:
    576
    The ESC uses PID controllers to balance brake application and throttle. I would suggest you read up some on PIDs. The proportional factor increases based on how far "off target" the controller is.The Integral setting takes the sum of the amount you were off target (integrating the pos vs. time, hence integral), and the derivative factor uses the rate at which the input is changing (the derivative of pos vs. time). "brakeThrottleSwitchThreshold" is the speed, in meters per second, the ESC system will go from cutting throttle and applying brake, to just braking (unless it thinks you are completely out of control)
     
  3. Passat Alltrack

    Passat Alltrack
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    Joined:
    Jun 7, 2016
    Messages:
    35
    No matter how much I played around with the values it did not seem to improve much going straight. This is clearly a lacking feature I would say. Almost any modern car has this feature and almost any car can go up a ramp with rollers on certain wheels nowadays. I filmed a video to show it in BeamNG here:


    And here is how it should be like:
    and here:
    --- Post updated ---
    It did not include it in the first one apparently



    You can clearly see it apply brakes quite aggressively. I tried to include some pretty extreme situations on the videoes just to make it kinda easier, but any rollers test could be a reference as well.

    You can still use the ABS to trick the car into torque vectoring tho which is pretty cool.
    Shown here:

     
    #3 Passat Alltrack, Mar 14, 2019
    Last edited: Mar 14, 2019
  4. btcb48

    btcb48
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    Joined:
    Aug 4, 2013
    Messages:
    39
    You may want to ask Diamondback about this. It was mentioned that TCS logic will be improved in future versions.

    Note that Torque Vectoring (by brake) usually refers to more advanced systems that preemptively brake the driven inside wheel when steering.

    Think what you desire, based on the video, is the more "basic" Automatic Braking Differential (ABD) logic that's a function under TCS, and works regardless of steering by simply comparing speeds across the differential's outputs. ASR is accurate, but it's Mercedes' specific terminology of it.

    AFAIK, the current TCS logic only compares the speed of diagonally opposite wheels. (E.g. front left and rear right)
    Therefore, as it is not sensitive to speed differences across the same axle, ABD will not work properly in AWD vehicles and will not work optimally in 2WD vehicles.

    I've played with the ESC LUA to sort-of fix this by taking more combinations of wheel speed differences into account (especially across the same axle), though I'm not sure if I can share the file. Haven't really looked into making the action smooth by adjusting the vehicle specific PID values.

    The ABD in the modern ETKs in BeamNG should behave similarly to most BMW's of the past 10 odd years (certain E-gens and all F-gens onwards) and remain active to an extent no matter the speed and ESC/TCS setting. They call it ADB-Sport in 2WDs and ADB-X in AWDs.

    Love roller test videos too, so many have been produced in Eastern Europe lately.
     
    • Agree Agree x 1
  5. Passat Alltrack

    Passat Alltrack
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    Joined:
    Jun 7, 2016
    Messages:
    35
    Yeah comparing the speeds of opposing wheels basically. In mechanic school, we used ASR to more specifically specify that it uses the brakes to torque vector. Kinda sounds more advanced than the simple TCS, but it is basically just exactly the same just in German. I bet it is pretty much impossible to buy a car today with ESP that does not have this function, but BMW definitely has it. Making it behave similarly to the 5 series in the game would probably not be a bad thing. It is clearly more capable than what it is in Beam right now tho. Would be cool if that could be improved.
     
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