def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mock"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.noOutput)
]
ret.mass = 1700.
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
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 = "mock"
ret.safetyModel = car.CarParams.SafetyModel.noOutput
ret.mass = 1700.
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "nissan"
ret.safetyModel = car.CarParams.SafetyModel.nissan
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 == 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
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(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "subaru"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.subaru
# Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True
# 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.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]]
# 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 = "nissan"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.nissan)
]
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)
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
# 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
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=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "ford"
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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV, ret.lateralTuning.pid.kfV = [
[0.01], [0.005], [1. / MAX_ANGLE]
] # TODO: tune this # 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
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
cloudlog.warning("ECU Camera Simulated: %r", 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 = "mazda"
ret.safetyModel = car.CarParams.SafetyModel.mazda
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
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(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
# VW port is a community feature, since we don't own one to test
ret.communityFeature = True
if candidate == CAR.GOLF:
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kdBP = [0., 18., 27., 35.] # derivative disabled for now
ret.lateralTuning.pid.kdV = [0., 0., 0., 0.]
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45
ret.steerRatio = 15.6
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
tire_stiffness_factor = 1.0
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic
# 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(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "ford"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
ret.lateralTuning.init('pid')
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=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)]
ret.pcmCruise = False # stock 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}
# 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 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
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()
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
# 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=[]):
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
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 = 100
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 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]:
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 == CAR.HIGHLANDER_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 = [[0.6],
[0.1]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
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 = [[0.6],
[0.1]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
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 = 16.0
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
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 == CAR.LEXUS_NXH:
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
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.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(),
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
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA]
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.kfV = [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.kfBP = [0.]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_2019:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [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.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [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.lateralTuning.pid.kfV = [0.00005]
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kfV = [0.00006]
ret.mass = 1275. + 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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [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.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 31 * CV.MPH_TO_MS
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kfV = [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, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# 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
]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
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.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.sccBus = -1
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Hyundai port is a community feature for now
ret.communityFeature = True
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kd = 0.
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]:
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_H]:
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
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 == 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.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.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.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
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]]
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.steerActuatorDelay = 0.08 # Stinger Limited AWD 3.3T stock value (Tunder's 2020)
ret.steerLimitTimer = 0.01 # no timer on value changes, lightning fast up or down (Tunder's 2020)
tire_stiffness_factor = 0.7 # LiveParameters (Tunder's 2020)
ret.steerRateCost = 0.25 # i don't know what this actually does, but the car drives much better this way than at 1.0. (Tunder)
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
ret.steerRatio = 10.28 # measured by wheel alignment machine/reported steering angle by OP, still being worked on. 2020 GT Limited AWD has a variable steering ratio ultimately ending in 10.28. The ratio at 0-1 deg is unknown, but likely higher than 10.28 to soften steering movements at midline (Tunder)
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [
[0.13], [0.05]
] # any higher p value and it oscillates forever. much lower and it doesn't turn enough (lazy)
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + 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 == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + 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]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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 == 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 == 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.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 = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
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_SPORTAGE:
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]]
ret.minSteerSpeed = 0.
elif candidate == CAR.GRANDEUR:
tire_stiffness_factor = 0.6
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 2000.0
ret.lateralTuning.lqr.ki = 0.01
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.003
ret.steerRatio = 13.7
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
elif candidate == CAR.K7_HYBRID:
tire_stiffness_factor = 0.9
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 13.7
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.6
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 2000.0
ret.lateralTuning.lqr.ki = 0.03
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.003
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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
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]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = ret.sccBus == -1
ret.openpilotLongitudinalControl = bool(ret.sccBus
and not ret.radarOffCan)
ret.autoLcaEnabled = True
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] # 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]): # Airbag_01, LWI_01, ESP_19
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.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_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
# 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)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
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]]
ret.minSteerSpeed = 0.
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]]
ret.minSteerSpeed = 0.
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 = 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.HYUNDAI_GENESIS:
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.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
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]]
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]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + 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 == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + 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]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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 == 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.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]]
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.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=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
#if candidate in [CAR.SONATA]:
# ret.safetyModel = car.CarParams.SafetyModel.hyundai
params = Params()
PidKp = float(int(params.get("PidKp", encoding='utf8')) * 0.01)
PidKi = float(int(params.get("PidKi", encoding='utf8')) * 0.001)
PidKd = float(int(params.get("PidKd", encoding='utf8')) * 0.01)
PidKf = float(int(params.get("PidKf", encoding='utf8')) * 0.00001)
InnerLoopGain = float(
int(params.get("InnerLoopGain", encoding='utf8')) * 0.1)
OuterLoopGain = float(
int(params.get("OuterLoopGain", encoding='utf8')) * 0.1)
TimeConstant = float(
int(params.get("TimeConstant", encoding='utf8')) * 0.1)
ActuatorEffectiveness = float(
int(params.get("ActuatorEffectiveness", encoding='utf8')) * 0.1)
Scale = float(int(params.get("Scale", encoding='utf8')) * 1.0)
LqrKi = float(int(params.get("LqrKi", encoding='utf8')) * 0.001)
DcGain = float(int(params.get("DcGain", encoding='utf8')) * 0.0001)
LqrSteerMaxV = float(
int(params.get("SteerMaxvAdj", encoding='utf8')) * 0.1)
# Most Hyundai car ports are community features for now
ret.communityFeature = False
ret.startAccel = 1.0
tire_stiffness_factor = float(
int(params.get("TireStiffnessFactorAdj", encoding='utf8')) * 0.01)
ret.steerActuatorDelay = float(
int(params.get("SteerActuatorDelayAdj", encoding='utf8')) * 0.01)
ret.steerRateCost = float(
int(params.get("SteerRateCostAdj", encoding='utf8')) * 0.01)
ret.steerLimitTimer = float(
int(params.get("SteerLimitTimerAdj", encoding='utf8')) * 0.01)
ret.steerRatio = float(
int(params.get("SteerRatioAdj", encoding='utf8')) * 0.1)
if int(params.get("LateralControlMethod", encoding='utf8')) == 0:
ret.lateralTuning.pid.kf = PidKf
ret.lateralTuning.pid.kpBP = [0., 9.]
ret.lateralTuning.pid.kpV = [0.1, PidKp]
ret.lateralTuning.pid.kiBP = [0., 9.]
ret.lateralTuning.pid.kiV = [0.01, PidKi]
ret.lateralTuning.pid.kdBP = [0.]
ret.lateralTuning.pid.kdV = [PidKd]
ret.lateralTuning.pid.newKfTuned = True if params.get(
"ShaneFeedForward",
encoding='utf8') == "1" else False # Shane's feedforward
elif int(params.get("LateralControlMethod", encoding='utf8')) == 1:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0., 9.]
ret.lateralTuning.indi.innerLoopGainV = [
3.0, InnerLoopGain
] # third tune. Highest value that still gives smooth control. Effects turning into curves.
ret.lateralTuning.indi.outerLoopGainBP = [0., 9.]
ret.lateralTuning.indi.outerLoopGainV = [
1.5, OuterLoopGain
] # forth tune. Highest value that still gives smooth control. Effects lane centering.
ret.lateralTuning.indi.timeConstantBP = [0., 9.]
ret.lateralTuning.indi.timeConstantV = [
2.0, TimeConstant
] # second tune. Lowest value with smooth actuation. Avoid the noise of actuator gears thrashing.
ret.lateralTuning.indi.actuatorEffectivenessBP = [0., 9.]
ret.lateralTuning.indi.actuatorEffectivenessV = [
3.0, ActuatorEffectiveness
] # first tune. Lowest value without oversteering. May vary with speed.
# lateralTuning.indi.actuatorEffectiveness
# As effectiveness increases, actuation strength decreases
# Too high: weak, sloppy lane centering, slow oscillation, can't follow high curvature, high steering error causes snappy corrections
# Too low: overpower, saturation, jerky, fast oscillation
# Just right: Highest still able to maintain good lane centering.
# lateralTuning.indi.timeConstant
# Extend exponential decay of prior output steer
# Too high: sloppy lane centering
# Too low: noisy actuation, responds to every bump, maybe unable to maintain lane center due to rapid actuation
# Just right: above noisy actuation and lane centering instability
# lateralTuning.indi.innerLoopGain
# Steer rate error gain
# Too high: jerky oscillation in high curvature
# Too low: sloppy, cannot accomplish desired steer angle
# Just right: brief snap on entering high curvature
# lateralTuning.indi.outerLoopGain
# Steer error gain
# Too high: twitchy hyper lane centering, oversteering
# Too low: sloppy, all over lane
# Just right: crisp lane centering
elif int(params.get("LateralControlMethod", encoding='utf8')) == 2:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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., 451.]
ret.lateralTuning.lqr.l = [0.33, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.steerMaxV = [LqrSteerMaxV]
ret.steerMaxBP = [0.]
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.IONIQ_HEV, CAR.IONIQ_EV]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
elif candidate == CAR.NEXO:
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.OPTIMA, CAR.OPTIMA_HEV]:
ret.wheelbase = 2.80
ret.mass = 1595. + STD_CARGO_KG
elif candidate == CAR.STINGER:
ret.mass = 1825.0 + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.CADENZA, CAR.CADENZA_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
elif candidate == CAR.SELTOS:
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 10., 40.]
ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2]
ret.longitudinalTuning.kiBP = [0., 10., 30., 40.]
ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
# steer, gas, brake limitations VS speed
ret.gasMaxBP = [0., 10., 40.]
ret.gasMaxV = [0.5, 0.5, 0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = True
ret.stoppingControl = True
ret.startAccel = 0.0
ret.standStill = False
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = False
ret.openpilotLongitudinalControl = False
ret.enableCruise = not ret.radarOffCan
ret.spasEnabled = False
# set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or True:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
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 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 lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
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.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
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
params = Params()
if int(params.get('LateralControlPriority')) == 0:
ret.radarOffCan = False
else:
ret.radarOffCan = True
PidKp = int(params.get('PidKp')) * 0.01
PidKi = int(params.get('PidKi')) * 0.001
PidKf = int(params.get('PidKf')) * 0.00001
OuterLoopGain = int(params.get('OuterLoopGain')) * 0.1
InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1
TimeConstant = int(params.get('TimeConstant')) * 0.1
ActuatorEffectiveness = int(params.get('ActuatorEffectiveness')) * 0.1
Scale = int(params.get('Scale')) * 1.0
LqrKi = int(params.get('LqrKi')) * 0.001
DcGain = int(params.get('DcGain')) * 0.000001
# Most Hyundai car ports are community features for now
ret.communityFeature = False
tire_stiffness_factor = int(params.get('TireStiffnessFactorAdj')) * 0.01
ret.steerActuatorDelay = int(params.get('SteerActuatorDelayAdj')) * 0.001
ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.001
ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.1
ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1
if int(params.get('LateralControlMethod')) == 0:
if candidate == CAR.SANTAFE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SORENTO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
#g90값 입력 종료
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.STINGER:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NEXO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.MOHAVE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.I30:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.AVANTE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SELTOS:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif int(params.get('LateralControlMethod')) == 1:
if candidate == CAR.SANTAFE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
elif candidate == CAR.SORENTO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.GENESIS:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
#g90 값 입력 종료
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate == CAR.STINGER:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.KONA:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate == CAR.NEXO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.MOHAVE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
elif candidate == CAR.I30:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.AVANTE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.SELTOS:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.PALISADE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
elif int(params.get('LateralControlMethod')) == 2:
if candidate == CAR.SANTAFE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
elif candidate == CAR.SORENTO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.GENESIS:
ret.mass = 1980. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 15.0
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.55
ret.steerLimitTimer = 2.5
#lqr 조향 시작
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1950.0
ret.lateralTuning.lqr.ki = 0.005
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.00288
#lqr 조향 종료
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1680 #Scale
ret.lateralTuning.lqr.ki = 0.01
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 = 0.002858 #0.002237852961363602
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
ret.steerLimitTimer = 2.5 #int(params.get('SteerLimitTimerAdj')) * 0.1
ret.steerRatio = 13.0 #int(params.get('SteerRatioAdj')) * 0.1
ret.steerActuatorDelay = 0.2 #int(params.get('SteerActuatorDelayAdj')) * 0.001
ret.steerRateCost = 0.55 #int(params.get('SteerRateCostAdj')) * 0.001
#g90 값 입력
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate == CAR.STINGER:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.KONA:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate == CAR.NEXO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.MOHAVE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
elif candidate == CAR.I30:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.AVANTE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.SELTOS:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.PALISADE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
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 = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.GENESIS, CAR.IONIQ_EV, CAR.IONIQ_HEV, CAR.KONA_EV]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
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.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # MDPS12
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # SAS11
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] else 2 if 1056 in fingerprint[2] else -1 # SCC11
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
# VW port is a community feature, since we don't own one to test
ret.communityFeature = True
if candidate == CAR.GOLF:
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
# As a starting point for speed-adjusted lateral tuning, use the example
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
# whether the driver assist map breakpoints have any direct bearing on
# HCA assist torque, but if they're good breakpoints for the driver,
# they're probably good breakpoints for HCA as well. OP won't be driving
# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
ret.lateralTuning.pid.kpBP = [
0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS
]
ret.lateralTuning.pid.kiBP = [
0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS
]
# FIXME: Per-vehicle parameters need to be reintegrated.
# For the time being, per-vehicle stuff is being archived since we
# can't auto-detect very well yet. Now that tuning is figured out,
# averaged params should work reasonably on a range of cars. Owners
# can tweak here, as needed, until we have car type auto-detection.
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
# ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
# ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
# ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
# ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
ret.steerRatio = 15.6
ret.steerRatioRear = 0.
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kfBP = [0.]
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
ret.lateralTuning.pid.kfV = [0.00006]
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic
# ret.enableCruise = True # Stock ACC still controls acceleration and braking
# ret.openpilotLongitudinalControl = False
# ret.steerControlType = car.CarParams.SteerControlType.torque
# Define default values across the MQB range,
# redefined per model bellow.
# Commented our for now as we don't allow unknown models for now.
# ret.mass = 1500 + STD_CARGO_KG
# ret.wheelbase = 2.64
# tire_stiffness_factor = 1.0
# Refine parameters for each vehicle.
if candidate == CAR.GOLF:
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
tire_stiffness_factor = 1.0
elif candidate == CAR.VW_TOURAN:
ret.mass = 1650 + STD_CARGO_KG
ret.wheelbase = 2.79
tire_stiffness_factor = 0.8
elif candidate == CAR.SKODA_SUPERB_B8:
ret.mass = 1700 + STD_CARGO_KG
ret.wheelbase = 2.85
tire_stiffness_factor = 0.8
elif candidate == CAR.VW_ATLAS:
ret.mass = 1950 + STD_CARGO_KG
ret.wheelbase = 2.98
tire_stiffness_factor = 0.8
# Not sure if I should simply exit or raise an error
else:
raise ValueError("Unsupported car %s" % candidate)
ret.centerToFront = ret.wheelbase * 0.45
# 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 = "honda"
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.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)
# 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(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "honda"
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarOffCan = True
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = disable_radar
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
if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
# Detect Bosch cars with new HUD msgs
if any(0x33DA in f for f in fingerprint.values()):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# 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:
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, CAR.CIVIC_2022):
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):
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:
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):
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.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
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.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
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.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
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:
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:
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.wheelSpeedFactor = 1.025
elif candidate == CAR.ACURA_RDX:
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
tire_stiffness_factor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
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 = [[0.2], [0.06]]
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY:
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:
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.PASSPORT):
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:
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:
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:
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
else:
raise ValueError(f"unsupported car {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
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
# 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
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go 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.steerLimitTimer = 0.8
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
# 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
cloudlog.warning("Detected network location: %s", ret.networkLocation)
cloudlog.warning("Detected transmission type: %s",
ret.transmissionType)
# 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
# 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=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "subaru"
ret.radarOffCan = True
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
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]]
# 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=[]):
global ATOMC
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = False #False(선행차우선) #True(차선우선) #선행차량 인식 마크 유무.
ret.radarOffCan = bool(params.get('OpkrTraceSet') != b'1')
ret.lateralsRatom.learnerParams = int(params.get('OpkrEnableLearner'))
# Hyundai port is a community feature for now
ret.communityFeature = False #True
ret.longcontrolEnabled = False
"""
0.7.5
ret.steerActuatorDelay = 0.1 # Default delay 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1
"""
"""
0.7.3
ret.steerActuatorDelay = 0.10 # Default delay 0.15
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.7
"""
tire_stiffness_factor = 1.
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
if candidate == CAR.SANTAFE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.steerRatio = 13.8 # 13.8 is spec end-to-end
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.SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 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 == CAR.GENESIS:
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 in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
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_TURBO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
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 in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
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.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
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.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
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.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.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
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_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
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 = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
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.NIRO_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + 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 == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + 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 == CAR.IONIQ_HEV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + 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 == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.25 #Spec
ret.steerRateCost = 0.4
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.NEXO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.steerRatio = 12.5
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.MOHAVE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.steerRatio = 14.1
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.I30:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.5
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.AVANTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.5 # 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]]
elif candidate == CAR.SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 13.0
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 = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# 3번 atom param.
ret.lateralPIDatom.sRKPHV = [9., 17.] # 속도. 32~61
ret.lateralPIDatom.sRkBPV = ATOMC.sR_BPV # 조향각.
ret.lateralPIDatom.sRBoostV = ATOMC.sR_BoostV
ret.lateralPIDatom.sRkpV1 = ATOMC.sR_kpV1
ret.lateralPIDatom.sRkiV1 = ATOMC.sR_kiV1
ret.lateralPIDatom.sRkdV1 = ATOMC.sR_kdV1
ret.lateralPIDatom.sRkfV1 = ATOMC.sR_kfV1
ret.lateralPIDatom.sRkpV2 = ATOMC.sR_kpV2
ret.lateralPIDatom.sRkiV2 = ATOMC.sR_kiV2
ret.lateralPIDatom.sRkdV2 = ATOMC.sR_kdV2
ret.lateralPIDatom.sRkfV2 = ATOMC.sR_kfV2
ret.lateralCVatom.cvBPV = ATOMC.cvBPV
ret.lateralCVatom.cvSteerMaxV1 = ATOMC.cvSteerMaxV1
ret.lateralCVatom.cvSteerDeltaUpV1 = ATOMC.cvSteerDeltaUpV1
ret.lateralCVatom.cvSteerDeltaDnV1 = ATOMC.cvSteerDeltaDnV1
ret.lateralCVatom.cvSteerMaxV2 = ATOMC.cvSteerMaxV2
ret.lateralCVatom.cvSteerDeltaUpV2 = ATOMC.cvSteerDeltaUpV2
ret.lateralCVatom.cvSteerDeltaDnV2 = ATOMC.cvSteerDeltaDnV2
ret.lateralsRatom.deadzone = ATOMC.deadzone
ret.lateralsRatom.steerOffset = ATOMC.steerOffset
ret.lateralsRatom.tireStiffnessFactor = ATOMC.tire_stiffness_factor
ret.steerRatio = ATOMC.steerRatio #10.5 #12.5
ret.steerRateCost = ATOMC.steerRateCost #0.4 #0.4
ret.steerActuatorDelay = ATOMC.steerActuatorDelay
ret.steerLimitTimer = ATOMC.steerLimitTimer
tire_stiffness_factor = ATOMC.tire_stiffness_factor
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.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.openpilotLongitudinalControl = False
return ret
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.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
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
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
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
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
# 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 in [CAR.SONATA, CAR.SONATA_HYBRID]:
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 = 15.6 * 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 in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {
CAR.KONA_EV: 1685.,
CAR.KONA_HEV: 1425.
}.get(candidate, 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 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, 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_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]]
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]
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 = "gm"
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.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableGasInterceptor
tire_stiffness_factor = 0.5
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
ret.steerRateCost = 0.3625 # def : 2.0
ret.steerActuatorDelay = 0.1925 # def: 0.2 Default delay, not measured yet
ret.minEnableSpeed = -1
ret.mass = 1625. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.60096
ret.steerRatio = 16.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49 # wild guess
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1975.0
ret.lateralTuning.lqr.ki = 0.032
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., 451.]
ret.lateralTuning.lqr.l = [0.33, 0.318]
ret.lateralTuning.lqr.dcGain = 0.00225
# 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 = [0.0, 35.0]
ret.longitudinalTuning.kpV = [0.5, 0.4]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.2]
if ret.enableGasInterceptor:
ret.gasMaxBP = [0.0, 5.0, 9.0, 35.0]
ret.gasMaxV = [0.4, 0.5, 0.7, 0.7]
ret.stoppingControl = False
ret.startAccel = 0.4
ret.steerLimitTimer = 1.5
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "gm"
ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
ret.enableCruise = False # stock cruise control is kept off
# GM port is considered a community feature, since it disables AEB;
# 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.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = ret.enableCamera
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.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.stoppingControl = True
ret.startAccel = 0.8
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
return ret
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.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundai, 0)
]
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)
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
} or candidate in HDA2_CAR
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
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.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 = 15.6 * 1.15
tire_stiffness_factor = 0.63
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 in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {
CAR.KONA_EV: 1685.,
CAR.KONA_HEV: 1425.
}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # 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, 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_DIESEL_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3633. * 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]]
# 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,
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_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]]
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.
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)
]
tire_stiffness_factor = 0.65
max_lat_accel = 2.
set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01)
# 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]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in LEGACY_SAFETY_MODE_CAR:
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)
]
# 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
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]
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
return ret
