Exemple #1
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None,
                   disable_radar=False):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        ret.carName = "mazda"
        ret.safetyConfigs = [
            get_safety_config(car.CarParams.SafetyModel.mazda)
        ]
        ret.radarOffCan = True

        ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)

        ret.steerActuatorDelay = 0.1
        ret.steerLimitTimer = 0.8
        tire_stiffness_factor = 0.70  # not optimized yet

        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

        if candidate in (CAR.CX5, CAR.CX5_2022):
            ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 15.5
        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
        elif candidate == CAR.MAZDA3:
            ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 14.0
        elif candidate == CAR.MAZDA6:
            ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.83
            ret.steerRatio = 15.5

        if candidate not in (CAR.CX5_2022, ):
            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)

        return ret
Exemple #2
0
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]

    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
    else:
      ret.transmissionType = TransmissionType.automatic

    if candidate in CAMERA_ACC_CAR:
      ret.openpilotLongitudinalControl = False
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.radarOffCan = True  # no radar
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
      ret.radarOffCan = False
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off

    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}

    # Start with a baseline 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.steerActuatorDelay = 0.1  # Default delay, not measured yet
    tire_stiffness_factor = 0.444  # not optimized yet

    ret.longitudinalTuning.kpBP = [5., 35.]
    ret.longitudinalTuning.kpV = [2.4, 1.5]
    ret.longitudinalTuning.kiBP = [0.]
    ret.longitudinalTuning.kiV = [0.36]

    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz

    # supports stop and go, but initial engage must (conservatively) be above 18mph
    ret.minEnableSpeed = 18 * CV.MPH_TO_MS

    if candidate == CAR.VOLT:
      ret.mass = 1607. + STD_CARGO_KG
      ret.wheelbase = 2.69
      ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
      tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh

      ret.lateralTuning.pid.kpBP = [0., 40.]
      ret.lateralTuning.pid.kpV = [0., 0.17]
      ret.lateralTuning.pid.kiBP = [0.]
      ret.lateralTuning.pid.kiV = [0.]
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
      ret.steerActuatorDelay = 0.2

    elif candidate == CAR.MALIBU:
      ret.mass = 1496. + STD_CARGO_KG
      ret.wheelbase = 2.83
      ret.steerRatio = 15.8
      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.steerRatio = 15.7

    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.centerToFront = ret.wheelbase * 0.4
      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking

    elif candidate == CAR.BUICK_REGAL:
      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.centerToFront = ret.wheelbase * 0.4  # guess for tourx

    elif candidate == CAR.CADILLAC_ATS:
      ret.mass = 1601. + STD_CARGO_KG
      ret.wheelbase = 2.78
      ret.steerRatio = 15.3
      ret.centerToFront = ret.wheelbase * 0.49

    elif candidate == CAR.ESCALADE_ESV:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      ret.mass = 2739. + STD_CARGO_KG
      ret.wheelbase = 3.302
      ret.steerRatio = 17.3
      ret.centerToFront = ret.wheelbase * 0.49
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
      ret.lateralTuning.pid.kf = 0.000045
      tire_stiffness_factor = 1.0

    elif candidate == CAR.BOLT_EUV:
      ret.minEnableSpeed = -1
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.675
      ret.steerRatio = 16.8
      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 1.0
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.SILVERADO:
      ret.minEnableSpeed = -1
      ret.mass = 2200. + STD_CARGO_KG
      ret.wheelbase = 3.75
      ret.steerRatio = 16.3
      ret.centerToFront = ret.wheelbase * 0.5
      tire_stiffness_factor = 1.0
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    # 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
Exemple #3
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=[],
                   disable_radar=False):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        ret.carName = "hyundai"
        ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[
            ret.carFingerprint]["radar"] is None

        # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
        ret.openpilotLongitudinalControl = disable_radar and (
            candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))

        ret.pcmCruise = not ret.openpilotLongitudinalControl

        # These cars have been put into dashcam only due to both a lack of users and test coverage.
        # These cars likely still work fine. Once a user confirms each car works and a test route is
        # added to selfdrive/car/tests/routes.py, we can remove it from this list.
        ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerLimitTimer = 0.4
        tire_stiffness_factor = 1.

        ret.stoppingControl = True
        ret.vEgoStopping = 1.0

        ret.longitudinalTuning.kpV = [0.1]
        ret.longitudinalTuning.kiV = [0.0]
        ret.stopAccel = 0.0

        ret.longitudinalActuatorDelayUpperBound = 1.0  # s
        if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022,
                         CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
            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 in (CAR.SONATA, CAR.SONATA_HYBRID):
            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
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        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 = 15.6 * 1.15
            tire_stiffness_factor = 0.63
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        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.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
            ret.wheelbase = 2.72
            ret.steerRatio = 12.9
            tire_stiffness_factor = 0.65
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        elif candidate == CAR.ELANTRA_HEV_2021:
            ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
            ret.wheelbase = 2.72
            ret.steerRatio = 12.9
            tire_stiffness_factor = 0.65
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        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 in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV,
                           CAR.KONA_EV_2022):
            ret.mass = {
                CAR.KONA_EV: 1685.,
                CAR.KONA_HEV: 1425.,
                CAR.KONA_EV_2022: 1743.
            }.get(candidate, 1275.) + STD_CARGO_KG
            ret.wheelbase = 2.6
            ret.steerRatio = 13.42  # Spec
            tire_stiffness_factor = 0.385
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020,
                           CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
            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,
                                 CAR.IONIQ_HEV_2022):
                ret.minSteerSpeed = 32 * CV.MPH_TO_MS
        elif candidate == CAR.IONIQ_PHEV_2019:
            ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73
            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.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]]
        elif candidate == CAR.TUCSON:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3520. * CV.LB_TO_KG
            ret.wheelbase = 2.67
            ret.steerRatio = 14.00 * 1.15
            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.TUCSON_HYBRID_4TH_GEN:
            ret.mass = 1680. + STD_CARGO_KG  # average of all 3 trims
            ret.wheelbase = 2.756
            ret.steerRatio = 16.
            tire_stiffness_factor = 0.385
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)

        # 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_PHEV,
                           CAR.KIA_NIRO_HEV_2021):
            ret.lateralTuning.pid.kf = 0.00006
            ret.mass = 1737. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 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_PHEV:
                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.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75
            tire_stiffness_factor = 0.5
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        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]]
        elif candidate == CAR.KIA_K5_2021:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3228. * CV.LB_TO_KG
            ret.wheelbase = 2.85
            ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
            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_EV6:
            ret.mass = 2055 + STD_CARGO_KG
            ret.wheelbase = 2.9
            ret.steerRatio = 16.
            tire_stiffness_factor = 0.65
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)
        elif candidate == CAR.IONIQ_5:
            ret.mass = 2012 + STD_CARGO_KG
            ret.wheelbase = 3.0
            ret.steerRatio = 16.
            tire_stiffness_factor = 0.65
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)

        # 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_G70_2020:
            ret.lateralTuning.pid.kf = 0.
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112],
                                                                    [0.004]]
            ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.83
            ret.steerRatio = 12.9
        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]]
        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]]

        # panda safety config
        if candidate in CANFD_CAR:
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.noOutput),
                get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)
            ]

            # detect HDA2 with LKAS message
            if 0x50 in fingerprint[6]:
                ret.flags |= HyundaiFlags.CANFD_HDA2.value
                ret.safetyConfigs[
                    1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
            else:
                # non-HDA2
                if 0x1cf not in fingerprint[4]:
                    ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
        else:
            ret.enableBsm = 0x58b in fingerprint[0]

            if candidate in LEGACY_SAFETY_MODE_CAR:
                # these cars require a special panda safety mode due to missing counters and checksums in the messages
                ret.safetyConfigs = [
                    get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)
                ]
            else:
                ret.safetyConfigs = [
                    get_safety_config(car.CarParams.SafetyModel.hyundai, 0)
                ]

            # set appropriate safety param for gas signal
            if candidate in HYBRID_CAR:
                ret.safetyConfigs[0].safetyParam = 2
            elif candidate in EV_CAR:
                ret.safetyConfigs[0].safetyParam = 1

            if ret.openpilotLongitudinalControl:
                ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG

            if candidate in CAMERA_SCC_CAR:
                ret.safetyConfigs[
                    0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC

        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)

        return ret
Exemple #4
0
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False):  # 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.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]

    if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE

    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

    stop_and_go = False
    steering_angle_deadzone_deg = 0.0
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    if candidate == CAR.PRIUS:
      stop_and_go = True
      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
      # Only give steer angle deadzone to for bad angle sensor prius
      for fw in car_fw:
        if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
          steering_angle_deadzone_deg = 1.0
          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate == CAR.PRIUS_V:
      stop_and_go = True
      ret.wheelbase = 2.78
      ret.steerRatio = 17.4
      tire_stiffness_factor = 0.5533
      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)

    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
      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

    elif candidate == CAR.COROLLA:
      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

    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.79
      ret.steerRatio = 16.  # 14.8 is spec end-to-end
      ret.wheelSpeedFactor = 1.035
      tire_stiffness_factor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.CHR, CAR.CHRH):
      stop_and_go = True
      ret.wheelbase = 2.63906
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)

    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
      stop_and_go = True
      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
      if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
      stop_and_go = True
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
      stop_and_go = True
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
      # starting from 2019, all Avalon variants have stop and go
      # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
      stop_and_go = candidate != CAR.AVALON
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)

    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
      stop_and_go = True
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

      # 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']):
          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
          break

    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
      stop_and_go = True
      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

    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
      stop_and_go = True
      ret.wheelbase = 2.8702
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.SIENNA:
      stop_and_go = True
      ret.wheelbase = 3.03
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
      ret.wheelbase = 2.79908
      ret.steerRatio = 13.3
      tire_stiffness_factor = 0.444
      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)

    elif candidate == CAR.LEXUS_CTH:
      stop_and_go = True
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_M)

    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
      stop_and_go = True
      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
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate == CAR.PRIUS_TSS2:
      stop_and_go = True
      ret.wheelbase = 2.70002  # from toyota online sepc.
      ret.steerRatio = 13.4   # True steerRatio from older prius
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)

    elif candidate == CAR.MIRAI:
      stop_and_go = True
      ret.wheelbase = 2.91
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
      stop_and_go = True
      ret.wheelbase = 3.00
      ret.steerRatio = 14.2
      tire_stiffness_factor = 0.444
      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    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) and (not smartDsu)
    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 - RADAR_ACC_CAR)

    if not ret.openpilotLongitudinalControl:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL

    # we can't use the fingerprint to detect this reliably, since
    # the EV gas pedal signal can take a couple seconds to appear
    if candidate in EV_HYBRID_CAR:
      ret.flags |= ToyotaFlags.HYBRID.value

    # 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

    if ret.enableGasInterceptor:
      set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
    elif candidate in TSS2_CAR:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
    else:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)

    return ret
Exemple #5
0
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "chrysler"

    ret.dashcamOnly = candidate in RAM_HD

    ret.radarOffCan = DBC[candidate]['radar'] is None

    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4

    # safety config
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
    if candidate in RAM_HD:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
    elif candidate in RAM_DT:
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT

    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.

    # Chrysler
    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
      ret.mass = 2242. + STD_CARGO_KG
      ret.wheelbase = 3.089
      ret.steerRatio = 16.2  # 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

    # Jeep
    elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
      ret.mass = 1778 + STD_CARGO_KG
      ret.wheelbase = 2.71
      ret.steerRatio = 16.7
      ret.steerActuatorDelay = 0.2
      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

    # Ram
    elif candidate == CAR.RAM_1500:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.88
      ret.steerRatio = 16.3
      ret.mass = 2493. + STD_CARGO_KG
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
      ret.minSteerSpeed = 14.5
      if car_fw is not None:
        for fw in car_fw:
          if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
            ret.minSteerSpeed = 0.

    elif candidate == CAR.RAM_HD:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.785
      ret.steerRatio = 15.61
      ret.mass = 3405. + STD_CARGO_KG
      ret.minSteerSpeed = 16
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)

    else:
      raise ValueError(f"Unsupported car: {candidate}")

    ret.centerToFront = ret.wheelbase * 0.44

    # 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]

    return ret
Exemple #6
0
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

    ret.carName = "subaru"
    ret.radarOffCan = True
    ret.dashcamOnly = candidate in PREGLOBAL_CARS

    if candidate in PREGLOBAL_CARS:
      ret.enableBsm = 0x25c in fingerprint[0]
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
    else:
      ret.enableBsm = 0x228 in fingerprint[0]
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
      if candidate in GLOBAL_GEN2:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2

    ret.steerLimitTimer = 0.4
    ret.steerActuatorDelay = 0.1
    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    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.init('pid')
      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]]

    elif 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.init('pid')
      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]]

    elif candidate == CAR.IMPREZA_2020:
      ret.mass = 1480. + STD_CARGO_KG
      ret.wheelbase = 2.67
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17           # learned, 14 stock
      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kf = 0.00005
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]

    elif 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.lateralTuning.init('pid')
      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]]

    elif candidate in (CAR.OUTBACK, CAR.LEGACY):
      ret.mass = 1568. + STD_CARGO_KG
      ret.wheelbase = 2.67
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 17
      ret.steerActuatorDelay = 0.1
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif 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

    elif 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

    elif 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

    else:
      raise ValueError(f"unknown car: {candidate}")

    # 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
Exemple #7
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None,
                   disable_radar=False):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        ret.carName = "volkswagen"
        ret.radarOffCan = True

        if candidate in PQ_CARS:
            # Set global PQ35/PQ46/NMS parameters
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.volkswagenPq)
            ]
            ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1

            if 0x440 in fingerprint[0]:  # Getriebe_1
                ret.transmissionType = TransmissionType.automatic
            else:
                ret.transmissionType = TransmissionType.manual

            if any(msg in fingerprint[1]
                   for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
                ret.networkLocation = NetworkLocation.gateway
            else:
                ret.networkLocation = NetworkLocation.fwdCamera

            # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
            # EPS flash update to work around this timer, and enable steering down to zero, is available from:
            #   https://github.com/pd0wm/pq-flasher
            # It is documented in a four-part blog series:
            #   https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
            # Panda ALLOW_DEBUG firmware required.
            ret.dashcamOnly = True

            if disable_radar and ret.networkLocation == NetworkLocation.gateway:
                # Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
                # be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
                ret.openpilotLongitudinalControl = True
                ret.safetyConfigs[
                    0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL

        else:
            # 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 lateral tuning defaults, can be overridden per-vehicle

        ret.steerActuatorDelay = 0.1
        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]

        # Global longitudinal tuning defaults, can be overridden per-vehicle

        ret.pcmCruise = not ret.openpilotLongitudinalControl
        ret.longitudinalActuatorDelayUpperBound = 0.5  # s
        ret.longitudinalTuning.kpV = [0.1]
        ret.longitudinalTuning.kiV = [0.0]

        # 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.PASSAT_NMS:
            ret.mass = 1503 + STD_CARGO_KG
            ret.wheelbase = 2.80
            ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
            ret.minSteerSpeed = 50 * CV.KPH_TO_MS
            ret.steerActuatorDelay = 0.2
            CarInterfaceBase.configure_torque_tune(candidate,
                                                   ret.lateralTuning)

        elif candidate == CAR.POLO_MK6:
            ret.mass = 1230 + STD_CARGO_KG
            ret.wheelbase = 2.55

        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.TROC_MK1:
            ret.mass = 1413 + STD_CARGO_KG
            ret.wheelbase = 2.63

        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.AUDI_Q3_MK2:
            ret.mass = 1623 + STD_CARGO_KG
            ret.wheelbase = 2.68

        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(f"unsupported car {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)
        return ret