def get_params(candidate, fingerprint): # kg of standard extra cargo to count for drive, gas, etc... std_cargo = 136 ret = car.CarParams.new_message() ret.carName = "toyota" ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.toyota # pedal ret.enableCruise = True # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923 * CV.LB_TO_KG + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 85400 tireStiffnessRear_civic = 90000 ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay if candidate == CAR.PRIUS: ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 15.0 ret.mass = 3045 * CV.LB_TO_KG + std_cargo ret.steerKpV, ret.steerKiV = [[0.4], [0.01]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerRateCost = 1.5 f = 1.43353663 tireStiffnessFront_civic *= f tireStiffnessRear_civic *= f # Prius has a very bad actuator ret.steerActuatorDelay = 0.25 elif candidate in [CAR.RAV4, CAR.RAV4H]: ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.65 ret.steerRatio = 14.5 # Rav4 2017 ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerRateCost = 1. elif candidate == CAR.COROLLA: ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 17.8 ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.2], [0.05]] ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerRateCost = 1. elif candidate == CAR.LEXUS_RXH: ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.79 ret.steerRatio = 16. # official specs say 14.8, but it does not seem right ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerRateCost = .8 ret.centerToFront = ret.wheelbase * 0.44 ret.longPidDeadzoneBP = [0., 9.] ret.longPidDeadzoneV = [0., .15] # 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. if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go ret.minEnableSpeed = -1. elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go ret.minEnableSpeed = 19. * CV.MPH_TO_MS centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = tireStiffnessFront_civic * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = tireStiffnessRear_civic * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS) print "ECU Camera Simulated: ", ret.enableCamera print "ECU DSU Simulated: ", ret.enableDsu print "ECU APGS Simulated: ", ret.enableApgs ret.steerLimitAlert = False ret.stoppingControl = False ret.startAccel = 0.0 ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [3.6, 2.4, 1.5] ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiV = [0.54, 0.36] return ret
def get_params(candidate, fingerprint, vin=""): ret = car.CarParams.new_message() ret.carName = "toyota" ret.carFingerprint = candidate ret.carVin = vin ret.safetyModel = car.CarParams.SafetyModel.toyota # pedal ret.enableCruise = not ret.enableGasInterceptor ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay if candidate != CAR.PRIUS: 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 = 15.00 # 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 = 16.30 # 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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.COROLLA: stop_and_go = False ret.safetyParam = 100 ret.wheelbase = 2.70 ret.steerRatio = 17.8 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_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 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 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.COROLLA_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 == 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 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 #detect the Pedal address ret.enableGasInterceptor = 0x201 in fingerprint # 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 # 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 # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.brakeMaxBP = [0.] ret.brakeMaxV = [1.] ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS) ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor) ret.steerLimitAlert = False ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kiBP = [0., 35.] ret.stoppingControl = False ret.startAccel = 0.0 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): # kg of standard extra cargo to count for drive, gas, etc... std_cargo = 136 ret = car.CarParams.new_message() ret.carName = "toyota" ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.toyota # pedal ret.enableCruise = not ret.enableGasInterceptor # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923 * CV.LB_TO_KG + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 192150 tireStiffnessRear_civic = 202500 ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay 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 = 15.00 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045 * CV.LB_TO_KG + std_cargo ret.steerKpV, ret.steerKiV = [[0.4], [0.01]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis ret.steerActuatorDelay = 0.25 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.65 ret.steerRatio = 16.30 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.COROLLA: stop_and_go = False ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 17.8 tire_stiffness_factor = 0.444 ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.2], [0.05]] ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RXH: stop_and_go = True ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file 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 # mean between min and max ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + std_cargo ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]] ret.steerKf = 0.00006 elif candidate in [CAR.CAMRY, CAR.CAMRYH]: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] ret.steerKf = 0.00006 elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.78 ret.steerRatio = 16.0 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] ret.steerKf = 0.00006 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 ret.longPidDeadzoneBP = [0., 9.] ret.longPidDeadzoneV = [0., .15] #detect the Pedal address ret.enableGasInterceptor = 0x201 in fingerprint # 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 centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = (tireStiffnessFront_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS) ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor) ret.steerLimitAlert = False ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKiBP = [0., 35.] ret.stoppingControl = False if ret.enableGasInterceptor: ret.gasMaxBP = [0., 9., 35] ret.gasMaxV = [0.2, 0.5, 0.7] ret.longitudinalKpV = [1.2, 0.8, 0.5] ret.longitudinalKiV = [0.18, 0.12] else: ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.longitudinalKpV = [3.6, 2.4, 1.5] ret.longitudinalKiV = [0.54, 0.36] return ret
def get_params(candidate, fingerprint): # kg of standard extra cargo to count for drive, gas, etc... std_cargo = 136 ret = car.CarParams.new_message() ret.carName = "toyota" ret.radarName = "toyota" ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.toyota ret.enableSteer = True ret.enableBrake = True # pedal ret.enableCruise = True # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923. / 2.205 + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 85400 tireStiffnessRear_civic = 90000 stop_and_go = True ret.mass = 3045. / 2.205 + std_cargo ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 14.5 #Rav4 2017, TODO: find exact value for Prius ret.steerKp, ret.steerKi = 0.6, 0.05 ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.longPidDeadzoneBP = [0., 9.] ret.longPidDeadzoneV = [0., .15] # 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. if candidate == CAR.PRIUS: ret.minEnableSpeed = -1. elif candidate == CAR.RAV4: # TODO: hack Rav4 to do stop and go ret.minEnableSpeed = 19. * CV.MPH_TO_MS centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = tireStiffnessFront_civic * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = tireStiffnessRear_civic * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU) ret.enableApgs = False # not check_ecu_msgs(fingerprint, candidate, ECU.APGS) print "ECU Camera Simulated: ", ret.enableCamera print "ECU DSU Simulated: ", ret.enableDsu print "ECU APGS Simulated: ", ret.enableApgs ret.enableGas = True ret.steerLimitAlert = False ret.stoppingControl = False ret.startAccel = 0.0 ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [3.6, 2.4, 1.5] ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiV = [0.54, 0.36] return ret
ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS) cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) ret.steerLimitAlert = False ret.stoppingControl = False ret.startAccel = 0.0 ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [3.6, 2.4, 1.5] ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiV = [0.54, 0.36]
def get_params(candidate, fingerprint): # kg of standard extra cargo to count for drive, gas, etc... std_cargo = 136 ret = car.CarParams.new_message() ret.carName = "toyota" ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.toyota # pedal ret.enableCruise = True # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923 * CV.LB_TO_KG + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 192150 tireStiffnessRear_civic = 202500 ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay if candidate == CAR.PRIUS: # experimenting with different values for 2018 prime ret.safetyParam = 66 # was 66 ret.wheelbase = 2.70 # 2.70 verified correct for 2018 prime ret.steerRatio = 13.4 # was 15.59, updated for prime per @larryjustin tire_stiffness_factor = 0.7933 ret.mass = 3370 * CV.LB_TO_KG + std_cargo # was 3045, updated for prime per @larryjustin ret.steerKpV, ret.steerKiV = [ [0.3], [0.06] ] # was 0.4, 0.01. For minor corrections, car was overshooting. Turn down K, bump I. ret.steerKf = 0.00008 # was 0.00006; need more torque to keep car on the road. # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis # ret.steerActuatorDelay = 0.25 # was 0.25 elif candidate in [CAR.RAV4, CAR.RAV4H]: ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.65 ret.steerRatio = 16.30 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.COROLLA: ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 17.8 tire_stiffness_factor = 0.444 ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.steerKpV, ret.steerKiV = [[0.2], [0.05]] ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RXH: ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file 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 # mean between min and max ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 ret.longPidDeadzoneBP = [0., 9.] ret.longPidDeadzoneV = [0., .15] # 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. if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go ret.minEnableSpeed = -1. elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go ret.minEnableSpeed = 19. * CV.MPH_TO_MS centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = (tireStiffnessFront_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS) cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) ret.steerLimitAlert = False ret.stoppingControl = False ret.startAccel = 0.0 ret.longitudinalKpBP = [0., 5., 35.] ret.longitudinalKpV = [3.6, 2.4, 1.5] ret.longitudinalKiBP = [0., 35.] ret.longitudinalKiV = [0.54, 0.36] return ret
def get_params(candidate, fingerprint): # kg of standard extra cargo to count for drive, gas, etc... std_cargo = 136 ret = car.CarParams.new_message() ret.carName = "toyota" ret.carFingerprint = candidate ret.safetyModel = car.CarParams.SafetyModels.toyota # pedal ret.enableCruise = not ret.enableGasInterceptor # FIXME: hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923 * CV.LB_TO_KG + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 192150 tireStiffnessRear_civic = 202500 #ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] #ret.steerActuatorDelay = 0.001 # Default delay, Prius has larger delay ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 55.] ret.longitudinalTuning.kiBP = [0., 55.] ret.stoppingControl = False ret.startAccel = 0.0 if ret.enableGasInterceptor: ret.gasMaxBP = [0., 9., 55] ret.gasMaxV = [0.2, 0.5, 0.7] ret.longitudinalTuning.kpV = [1.0, 0.66, 0.42] # braking tune ret.longitudinalTuning.kiV = [0.135, 0.09] else: ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.longitudinalTuning.kpV = [2.0, 1.0, 0.5] # braking tune from rav4h ret.longitudinalTuning.kiV = [0.30, 0.20] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay if candidate != CAR.PRIUS: 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 = 15.00 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045 * CV.LB_TO_KG + std_cargo 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 ret.steerRateCost = 0.5 elif candidate in [CAR.RAV4]: stop_and_go = True if ret.enableGasInterceptor else False ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.66 # 2.65 default ret.steerRatio = 17.28 # Rav4 0.5.10 tuning value ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.3 ], [0.03]] #0.6 0.05 default ret.wheelbase = 2.65 tire_stiffness_factor = 0.5533 ret.lateralTuning.pid.kf = 0.00001 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate in [CAR.RAV4H]: stop_and_go = True ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.65 # 2.65 default ret.steerRatio = 16.53 # 0.5.10 tuning ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.3 ], [0.03]] #0.6 0.05 default ret.wheelbase = 2.65 tire_stiffness_factor = 0.5533 ret.lateralTuning.pid.kf = 0.0001 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.RAV4_2019: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.68986 ret.steerRatio = 17.0 tire_stiffness_factor = 0.7933 ret.mass = 3370. * CV.LB_TO_KG + std_cargo ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.0001 elif candidate == CAR.COROLLA_HATCH: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.63906 ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 ret.mass = 3060. * CV.LB_TO_KG + std_cargo ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.COROLLA: stop_and_go = True if ret.enableGasInterceptor else False ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 17.84 # 0.5.10 tire_stiffness_factor = 1.01794 ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00003909297 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate in [CAR.LEXUS_RXH, CAR.LEXUS_RX]: stop_and_go = True ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.79 ret.steerRatio = 18.6 # 0.5.10 tire_stiffness_factor = 0.517 # 0.5.10 ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.02]] ret.lateralTuning.pid.kf = 0.00007 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_IS: stop_and_go = False ret.safetyParam = 100 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 #from Q tire_stiffness_factor = 0.444 #from Q ret.mass = 3737 * CV.LB_TO_KG + std_cargo # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04] ] #from Q ret.lateralTuning.pid.kf = 0.00006 #from Q elif candidate == CAR.LEXUS_ISH: stop_and_go = True ret.safetyParam = 66 ret.wheelbase = 2.80 # in spec ret.steerRatio = 13.3 # in spec tire_stiffness_factor = 0.444 # from camry ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg) ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]] ret.lateralTuning.pid.kf = 0.00006 # from camry elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.63906 ret.steerRatio = 15.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + std_cargo 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 = 100 ret.wheelbase = 2.82448 ret.steerRatio = 17.7 # 0.5.10 tire_stiffness_factor = 0.7933 ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.03]] ret.lateralTuning.pid.kf = 0.0001 elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.78 ret.steerRatio = 17.36 # 0.5.10 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.0075]] ret.lateralTuning.pid.kf = 0.00015 elif candidate == CAR.AVALON: stop_and_go = False ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00006 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 # mean between normal and hybrid elif candidate == CAR.OLD_CAR: stop_and_go = True ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.455 ret.steerRatio = 17. tire_stiffness_factor = 0.444 ret.mass = 6200 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.10], [0.04]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 if ret.enableGasInterceptor: 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.gasMaxV = [0.2, 0.5, 0.7] ret.longitudinalTuning.kpV = [3.6, 1.1, 1.0] ret.longitudinalTuning.kiV = [0.5, 0.24] if candidate == CAR.OLD_CAR: ret.centerToFront = ret.wheelbase * 0.5 else: ret.centerToFront = ret.wheelbase * 0.44 ret.steerRateCost = 1. #detect the Pedal address ret.enableGasInterceptor = 0x201 in fingerprint # 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 centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = (tireStiffnessFront_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0., 9., 35.] #ret.gasMaxV = [0.2, 0.5, 0.7] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM) ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU) ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS) ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs) cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor) ret.steerLimitAlert = False ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kiBP = [0., 35.] ret.stoppingControl = False ret.startAccel = 0.0 #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