def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "mazda"
ret.safetyModel = car.CarParams.SafetyModel.mazda
ret.lateralTuning.init('pid')
ret.dashcamOnly = True
ret.radarOffCan = True
# Mazda port is a community feature for now
ret.communityFeature = True
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
if candidate in [CAR.CX5]:
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.2]]
ret.lateralTuning.pid.kf = 0.00006
# No steer below disable speed
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
# dp
ret = common_interface_get_params_lqr(ret)
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "ford"
ret.lateralTuning.init('pid')
ret.safetyModel = car.CarParams.SafetyModel.ford
ret.dashcamOnly = True
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.8
ret.steerRateCost = 1.0
ret.centerToFront = ret.wheelbase * 0.44
tire_stiffness_factor = 0.5328
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerControlType = car.CarParams.SteerControlType.angle
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
if fingerprint is None:
fingerprint = gen_empty_fingerprint()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "chrysler"
ret.safetyModel = car.CarParams.SafetyModel.chrysler
ret.lateralTuning.init('pid')
# Chrysler port is a community feature, since we don't own one to test
ret.communityFeature = True
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.],
[9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30],
[0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
# dp
ret = common_interface_get_params_lqr(ret)
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020,
CAR.JEEP_CHEROKEE_2019):
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "nissan"
ret.safetyModel = car.CarParams.SafetyModel.nissan
ret.lateralTuning.init('pid')
# Nissan port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.steerLimitAlert = False
ret.enableCamera = True
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01],
[0.005]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
if candidate in [CAR.ROGUE, CAR.XTRAIL]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate == CAR.LEAF:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
# dp
ret = common_interface_get_params_lqr(ret)
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.chrysler)
]
ret.lateralTuning.init('pid')
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.],
[9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30],
[0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020,
CAR.JEEP_CHEROKEE_2019):
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableBsm = 720 in fingerprint[0]
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "nissan"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.nissan)
]
ret.lateralTuning.init('pid')
ret.steerLimitAlert = False
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1
if candidate in [CAR.ROGUE, CAR.XTRAIL]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
# dp
ret.lateralTuning.init('pid')
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.pcmCruise = False # stock cruise control is kept off
# GM port is a community feature
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.openpilotLongitudinalControl = True
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.startAccel = 0.8
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
ret.lateralTuning.init('pid')
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
ret.startAccel = 1.0
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.ELANTRA_HEV_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [
CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV
]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# Kia
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
if candidate == CAR.KIA_NIRO_HEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [4.]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_CEED:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1450. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# Genesis
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [2.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.5]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainV = [3.5]
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.0]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [
CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD,
CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER,
CAR.KIA_STINGER, CAR.KIA_SELTOS, CAR.GENESIS_G70,
CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA
]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
# set appropriate safety param for gas signal
if candidate in HYBRID_CAR:
ret.safetyParam = 2
elif candidate in EV_CAR:
ret.safetyParam = 1
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x58b in fingerprint[0]
# dp
if Params().get('dp_hkg_smart_mdps') == b'1':
ret.minSteerSpeed = 0.
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.lateralTuning.init('pid')
ret.radarOffCan = True
ret.dashcamOnly = True
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
if candidate == CAR.CX5:
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CX9, CAR.CX9_2021]:
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
# No steer below disable speed
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.lateralTuning.init('pid')
# Set global default parameters
ret.radarOffCan = True
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all racks are similar here
ret.steerLimitTimer = 0.4
# Override these per-car as necessary
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
ret.lateralTuning.pid.kf = 0.00006
# PER-PLATFORM PARAMETERS - DO NOT EDIT HERE TO TUNE INDIVIDUAL VEHICLES
if candidate in MQB_CARS:
# Configurations shared between all MQB vehicles
ret.carName = "volkswagen"
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Determine installed network location and trans type from fingerprint
ret.networkLocation = NWL.fwdCamera if 0x122 in fingerprint[0] else NWL.gateway
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TRANS.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TRANS.direct
else: # No trans at all
ret.transmissionType = TRANS.manual
elif candidate in PQ_CARS:
# Configurations shared between all PQ35/PQ46/NMS vehicles
ret.carName = "volkswagen"
ret.safetyModel = car.CarParams.SafetyModel.volkswagenPq
# Determine installed network location and trans type from fingerprint
ret.networkLocation = NWL.fwdCamera if 0x368 in fingerprint[0] else NWL.gateway
if 0x440 in fingerprint[0]: # Getriebe_1
ret.transmissionType = TRANS.automatic
else: # No trans at all
ret.transmissionType = TRANS.manual
# PER-VEHICLE PARAMETERS - EDIT HERE TO TUNE INDIVIDUAL VEHICLES
if candidate == CAR.GENERICMQB:
# FIXME: Defaulting to VW Golf Mk7 as a baseline.
ret.mass = 1500 + STD_CARGO_KG # Average, varies on trim/package
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45 # Estimated
ret.steerRatio = 15.6
tire_stiffness_factor = 1.0
elif candidate == CAR.GENERICPQ:
ret.mass = 1375 + STD_CARGO_KG # Average, varies on trim/package
ret.wheelbase = 2.58
ret.centerToFront = ret.wheelbase * 0.45 # Estimated
ret.steerRatio = 15.6
tire_stiffness_factor = 1.0
# dp
ret = common_interface_get_params_lqr(ret)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "toyota"
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune.
ret.longitudinalTuning.kiV = [0.195, 0.10]
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 88
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.minSpeedCan = 0.375
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRation from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 130
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_GSH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 130
ret.wheelbase = 2.84988
ret.steerRatio = 14.35 # range from 11.5 - 17.2, lets try 14.35
tire_stiffness_factor = 0.444
ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_NXT:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# dp
ret = common_interface_get_params_lqr(ret)
if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
if Params().get('dp_lqr') == b'0':
ret.lateralTuning.indi.timeConstant = 0.1
ret.steerRateCost = 0.5
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.dsu) and candidate not in TSS2_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = ret.enableCamera and (
smartDsu or ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.toyota)
]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyConfigs[
0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [4.0]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.0]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
ret.steerActuatorDelay = 0.3
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune.
ret.longitudinalTuning.kiV = [0.195, 0.10]
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 88
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [
CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2
]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (
fw.fwVersion.startswith(b'\x02') or fw.fwVersion
in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.15
], [0.05]]
ret.lateralTuning.pid.kf = 0.00004
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.8190
ret.steerRatio = 16.06
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRation from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [20, 24, 30]
ret.lateralTuning.indi.innerLoopGainV = [7.25, 7.5, 9]
ret.lateralTuning.indi.outerLoopGainBP = [20, 24, 30]
ret.lateralTuning.indi.outerLoopGainV = [6, 7.25, 6]
ret.lateralTuning.indi.timeConstantBP = [20, 24]
ret.lateralTuning.indi.timeConstantV = [2.0, 2.2]
ret.lateralTuning.indi.actuatorEffectivenessBP = [20, 24]
ret.lateralTuning.indi.actuatorEffectivenessV = [2, 3]
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 1.25
ret.steerLimitTimer = 0.5
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.ALPHARD_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 130
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.PRIUS_ALPHA]:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 18
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = (len(found_ecus) > 0) and (
Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
if Params().get_bool(
'dp_atl') and not Params().get_bool('dp_atl_op_long'):
ret.openpilotLongitudinalControl = False
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpBP = [
0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.
]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
ret.longitudinalTuning.kiBP = [
0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.
]
ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
elif candidate in [
CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2,
CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.PRIUS_TSS2
]:
# Improved longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.startingAccelRate = 6.0 # release brakes fast
else:
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
# dp
ret = common_interface_get_params_lqr(ret)
if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.indi.timeConstantV = [0.1]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.steerRateCost = 0.5
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "honda"
ret.lateralTuning.init('pid')
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
rdr_bus = 0 if has_relay else 2
ret.enableCamera = is_ecu_disconnected(
fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
ret.enableCamera = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 8000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560
], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1],
[0.33]]
tire_stiffness_factor = 1.
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.8467
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 3840], [0, 3840]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 10000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
[0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 3840
], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.64
], [0.192]]
tire_stiffness_factor = 0.677
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.06]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.HRV:
stop_and_go = False
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.025]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.JADE:
stop_and_go = False
ret.mass = 1557. + STD_CARGO_KG
ret.wheelbase = 2.76
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.025]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840],
[0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
tire_stiffness_factor = 0.677
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 32767], [0, 32767]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
# dp
if Params().get('dp_honda_eps_mod') == b'1':
if candidate == CAR.CIVIC:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2566, 8000
], [0, 2566, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.32
], [0.1]] #2.5x tuned by @CFranHonda
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2564, 8000
], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.32
], [0.1]] #2.5 default mod #TMG put your values here
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.09]]
elif candidate == CAR.CRV_5G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 10000
], [0, 2560, 3840]] #tuned by Titanminer (8000)
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
[0.07]]
elif candidate == CAR.CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058,
0x2C00
], [
0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00
]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.21
], [0.07]] #still needs to finish tuning for the new car
ret.lateralTuning.pid.kf = 0.00004
ret = common_interface_get_params_lqr(ret)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [
0.
] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.stoppingControl = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "subaru"
ret.radarOffCan = True
ret.lateralTuning.init('pid')
if candidate in PREGLOBAL_CARS:
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
else:
ret.safetyModel = car.CarParams.SafetyModel.subaru
# Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.0025, 0.1
], [0.00025, 0.01]]
if candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3],
[
0.02,
0.03
]]
if candidate == CAR.FORESTER:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 14., 23.
], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.01, 0.065, 0.2
], [0.001, 0.015, 0.025]]
if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
ret.safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 10., 20.
], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.01, 0.05, 0.2
], [0.003, 0.018, 0.025]]
if candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2],
[
0.01,
0.02
]]
if candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 10., 20.
], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.01, 0.05, 0.2
], [0.003, 0.018, 0.025]]
# dp
ret = common_interface_get_params_lqr(ret)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
ret.lateralTuning.init('pid')
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 15
# dp - indi value from donfyffe
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.1
ret.lateralTuning.indi.outerLoopGain = 2.1
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 1.4
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
ret.minEnableSpeed = 10 * CV.MPH_TO_MS
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
# Kia
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_NIRO_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
# Genesis
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi') # TODO: BPs for city speeds - this tuning is great on the highway but a bit lazy in town
ret.lateralTuning.indi.innerLoopGain = 2.4 # higher values steer more
ret.lateralTuning.indi.outerLoopGain = 3.0 # higher values steer more
ret.lateralTuning.indi.timeConstant = 1.0 # lower values steer more
ret.lateralTuning.indi.actuatorEffectiveness = 2.0 # lower values steer more
ret.steerActuatorDelay = 0.4 # 0.08 stock
ret.steerLimitTimer = 0.4 # down from 0.4
tire_stiffness_factor = 1.0
ret.steerRateCost = 1.0
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.906
ret.steerRatio = 14.4
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.5
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 2.3
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
# dp
if Params().get('dp_hkg_smart_mdps') == b'1':
ret.minSteerSpeed = 0.
ret = common_interface_get_params_lqr(ret)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "subaru"
ret.radarOffCan = True
ret.lateralTuning.init('pid')
if candidate in PREGLOBAL_CARS:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
ret.enableBsm = 0x25c in fingerprint[0]
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
ret.enableBsm = 0x228 in fingerprint[0]
#ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
if candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
if candidate == CAR.IMPREZA_2020:
ret.safetyConfigs[0].safetyParam = 1 # lower max_steer for 2020
ret.mass = 1480. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13
ret.steerActuatorDelay = 0.1 # end-to-end angle controller
ret.steerRateCost = 1
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20., 30.], [0., 10., 20., 30.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2, 0.21], [0.0010, 0.004, 0.008, 0.009]]
if candidate == CAR.FORESTER:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
if candidate == CAR.WRX_PREGLOBAL:
ret.safetyConfigs[0].safetyParam = 1 # WRX has reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
if candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
if candidate == CAR.LEGACY_PREGLOBAL_2018:
ret.safetyConfigs[0].safetyParam = 1 # Legacy 2018-2019 has reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
if candidate == CAR.LEVORG_PREGLOBAL:
ret.safetyConfigs[0].safetyParam = 1 # Levorg has reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
if candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "honda"
ret.lateralTuning.init('pid')
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness)
]
ret.radarOffCan = True
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = Params().get_bool(
"DisableRadar")
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hondaNidec)
]
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
ret.enableBsm = True
#if candidate in (CAR.CRV_5G, CAR.CRV_HYBRID, ):
#ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
# Accord 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in HONDA_BOSCH:
ret.longitudinalTuning.kpV = [0.25]
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 8000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560
], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1],
[0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
stop_and_go = True
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.8467
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 3840], [0, 3840]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 10000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
[0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 3840
], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.64
], [0.192]]
tire_stiffness_factor = 0.677
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
elif candidate == CAR.FREED:
stop_and_go = False
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
elif candidate == CAR.HRV:
stop_and_go = False
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.025]]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840],
[0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28],
[0.08]]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 32767], [0, 32767]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28],
[0.08]]
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
elif candidate == CAR.HONDA_E:
stop_and_go = True
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.18]] # TODO: can probably use some tuning
elif candidate == CAR.JADE:
stop_and_go = False
ret.mass = 1557. + STD_CARGO_KG
ret.wheelbase = 2.76
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.025]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
# These cars use alternate user brake msg (0x1BE)
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
if candidate in [CAR.JADE]:
ret.minEnableSpeed = -1. if (
ret.enableGasInterceptor) else 30 * CV.KPH_TO_MS
else:
ret.minEnableSpeed = -1. if (
stop_and_go
or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
# dp
if Params().get('dp_honda_eps_mod') == b'1':
if candidate == CAR.CIVIC:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 8000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.3
], [0.1]] #tuned by Comma
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2564, 8000
], [0, 2564, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.3
], [0.09]] #2.5 default mod #Tuned by TMG
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.09]]
elif candidate == CAR.CRV_5G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 10000
], [0, 2560, 3840]] #tuned by Titanminer (8000)
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
[0.07]]
elif candidate == CAR.CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058,
0x2C00
], [
0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00
]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.21
], [0.07]] #still needs to finish tuning for the new car
ret.lateralTuning.pid.kf = 0.00004
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
if True: # pylint: disable=using-constant-test
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# Global tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.05
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
else:
raise ValueError("unsupported car %s" % candidate)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.communityFeature = True
ret.radarOffCan = True
if True: # pylint: disable=using-constant-test
# Set global MQB parameters
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
ret.enableBsm = 0x30F in fingerprint[0]
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else: # No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
if 0x86 in fingerprint[
1]: # LWI_01 seen on bus 1, we're wired to the CAN gateway
ret.networkLocation = NetworkLocation.gateway
else: # We're wired to the LKAS camera
ret.networkLocation = NetworkLocation.fwdCamera
# Global tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.05
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
