def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.enableCruise = True
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
# TODO: Determine if this is better than INDI
# ret.lateralTuning.init('lqr')
# ret.lateralTuning.lqr.scale = 1500.0
# 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 = [-110.73572306, 451.22718255]
# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
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 in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
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
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)
# 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 = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# 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.enableApgs = False # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera and (
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 APGS Simulated: %r", ret.enableApgs)
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
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu
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=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
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.4 # 0.1 Default delay (0.22) xps 0.3
ret.steerRateCost = 0.5 # 0.25 Default 0.5 (0.5) xps 0.5
ret.steerLimitTimer = 0.8 # 1.2 Default (0.8) xps 0.1
ret.maxSteeringAngleDeg = 90.
tire_stiffness_factor = 1.
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
# STD_CARGO_KG=136. wheelbase or mass date using wikipedia
# genesis
if candidate == CAR.GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.010
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G70:
ret.mass = 1795. + STD_CARGO_KG
ret.wheelbase = 2.835
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G80:
ret.mass = 2035. + STD_CARGO_KG
ret.wheelbase = 3.010
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2185. + STD_CARGO_KG
ret.wheelbase = 3.160
ret.steerRatio = 12.0
# hyundai
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_I30, CAR.ELANTRA20]:
ret.mass = 1340. + STD_CARGO_KG
ret.wheelbase = 2.720
ret.steerRatio = 15.4
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1615. + STD_CARGO_KG
ret.wheelbase = 2.840
ret.steerRatio = 15.2
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.805
ret.steerRatio = 15.2
elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
ret.mass = 1743. + STD_CARGO_KG
ret.wheelbase = 2.600
ret.steerRatio = 13.7
elif candidate in [CAR.IONIQ_EV, CAR.IONIQ_HEV]:
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.700
ret.steerRatio = 13.7
elif candidate == CAR.SANTA_FE:
ret.mass = 1910. + STD_CARGO_KG
ret.wheelbase = 2.765
ret.steerRatio = 15.8
elif candidate == CAR.PALISADE:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 2.900
ret.steerRatio = 15.8
elif candidate == CAR.VELOSTER:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.650
ret.steerRatio = 15.8
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV, CAR.GRANDEUR20, CAR.GRANDEUR20_HEV]:
ret.mass = 1719. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
elif candidate == CAR.NEXO:
ret.mass = 1873. + STD_CARGO_KG
ret.wheelbase = 2.790
ret.steerRatio = 13.7
# kia
elif candidate == CAR.FORTE:
ret.mass = 1345. + STD_CARGO_KG
ret.wheelbase = 2.700
ret.steerRatio = 13.7
elif candidate in [CAR.OPTIMA, CAR.OPTIMA_HEV]:
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.805
ret.steerRatio = 15.8 # 14.75
ret.minSteerSpeed = 45 * CV.KPH_TO_MS
elif candidate == CAR.SPORTAGE:
ret.mass = 1770. + STD_CARGO_KG
ret.wheelbase = 2.670
ret.steerRatio = 15.8
elif candidate == CAR.SORENTO:
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.815
ret.steerRatio = 15.8
elif candidate == CAR.MOHAVE:
ret.mass = 2305. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.steerRatio = 14.1
elif candidate == CAR.STINGER:
ret.mass = 1913. + STD_CARGO_KG
ret.wheelbase = 2.905
ret.steerRatio = 13.5
elif candidate in [CAR.NIRO_EV, CAR.NIRO_HEV]:
ret.mass = 1748. + STD_CARGO_KG
ret.wheelbase = 2.700
ret.steerRatio = 13.7
elif candidate == CAR.SOUL_EV:
ret.mass = 1375. + STD_CARGO_KG
ret.wheelbase = 2.600
ret.steerRatio = 13.7
elif candidate == CAR.SELTOS:
ret.mass = 1510. + STD_CARGO_KG
ret.wheelbase = 2.630
ret.steerRatio = 13.0
elif candidate in [CAR.CADENZA, CAR.CADENZA_HEV]:
ret.mass = 1730. + STD_CARGO_KG
ret.wheelbase = 2.855
ret.steerRatio = 12.5
# -----------------------------------------------------------------
params = Params()
lat_pid = int(params.get('LateralControlPid')) == 1
lat_indi = int(params.get('LateralControlIndi')) == 1
lat_lqr = int(params.get('LateralControlLqr')) == 1
if lat_pid:
if candidate in [CAR.GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90]:
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kpV = [0.16]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.01]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kpV = [0.3]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.05]
else:
ret.lateralTuning.pid.kf = 0.000075 # default 0.00005
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kpV = [0.35] # default 0.25
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.08] # default 0.05
# -----------------------------------------------------------------
elif lat_indi:
if candidate in [CAR.GENESIS]:
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]
elif candidate in [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]
else:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [5.6] # default 3.5 (4.8) rate error, Too high: jerky oscillation in high curvature, Too low: sloppy, cannot accomplish desired steer angle
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [4.4] # default 2.0 (4.2) angle error, Too high: twitchy hyper lane centering, oversteering, Too low: sloppy, all over lane
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.6] # default 1.4 (1.4) - Higher values == more smoothing, Too high: sloppy lane centering, Too low: noisy actuation, responds to every bump, maybe unable to maintain lane center due to rapid actuation
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.4] # default 2.3 (1.8) - Lower values == more steering, 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, bang-bang control
# -----------------------------------------------------------------
elif lat_lqr:
if candidate in [CAR.GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1900.
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.0029
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]
elif candidate in [CAR.OPTIMA, CAR.OPTIMA_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1700.0
ret.lateralTuning.lqr.ki = 0.02 # default 0.03 good tune 0.016
ret.lateralTuning.lqr.dcGain = 0.0028 # default 0.003 good tune 0.002
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 = [-110.0, 451.0] # default [-105.0, 450.0]
ret.lateralTuning.lqr.l = [0.33, 0.318] # default [0.22, 0.318]
elif candidate in [CAR.CADENZA, CAR.CADENZA_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1700.
ret.lateralTuning.lqr.ki = 0.012
ret.lateralTuning.lqr.dcGain = 0.0028
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]
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV, CAR.GRANDEUR20, CAR.GRANDEUR20_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1600.
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.0027
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]
elif candidate == CAR.SELTOS:
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
else:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1700.0
ret.lateralTuning.lqr.ki = 0.03
ret.lateralTuning.lqr.dcGain = 0.003
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 = [-105.0, 450.0]
ret.lateralTuning.lqr.l = [0.22, 0.318]
# -----------------------------------------------------------------
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.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0., 10., 40.]
ret.gasMaxV = [0.5, 0.5, 0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.startAccel = 0.0
ret.stoppingControl = True
ret.enableCamera = True
# ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera)
# 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 = Params().get('LongControlEnabled') == b'1'
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 Params().get('MadModeEnabled') == b'1':
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "toyota"
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune.
ret.longitudinalTuning.kiV = [0.195, 0.10]
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 88
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.minSpeedCan = 0.375
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRation from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 130
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_GSH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 130
ret.wheelbase = 2.84988
ret.steerRatio = 14.35 # range from 11.5 - 17.2, lets try 14.35
tire_stiffness_factor = 0.444
ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_NXT:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# dp
ret = common_interface_get_params_lqr(ret)
if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
if Params().get('dp_lqr') == b'0':
ret.lateralTuning.indi.timeConstant = 0.1
ret.steerRateCost = 0.5
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.dsu) and candidate not in TSS2_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = ret.enableCamera and (
smartDsu or ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
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.hyundaiLegacy
if candidate in [CAR.SONATA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# 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 = 0.8
tire_stiffness_factor = 1.
# genesis
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 == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
# hyundai
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
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
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
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
tire_stiffness_factor = 0.8
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
tire_stiffness_factor = 0.5
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.5
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.5
elif candidate == CAR.STINGER:
tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
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
tire_stiffness_factor = 0.5
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5
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
tire_stiffness_factor = 0.385
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.385
ret.mass = 1705. + STD_CARGO_KG
ret.wheelbase = 2.855
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1900.0
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.003
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.steerRatio = 14.4
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
ret.steerRateCost = 0.5
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.1]
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)
# 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 = 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 = Params().get(
'LongControlEnabled') == b'1'
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 Params(
).get('MadModeEnabled') == b'1':
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "hyundai"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
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]]
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.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 = 0.00004
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 10.1 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13],
[0.009]]
ret.steerRateCost = 0.8
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 = 0.00004
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 10.1 #Tuned
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13],
[0.009]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
ret.steerRateCost = 0.8
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.
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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.]
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
# 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.openpilotLongitudinalControl = True
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.autoLcaEnabled = 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=False)
ret.carName = "gm"
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.enableCruise = 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.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.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13], [0.02]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 0.5
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 = -1
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 16.7
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=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.toyota)
]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyConfigs[
0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [4.0]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.0]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
ret.steerActuatorDelay = 0.3
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune.
ret.longitudinalTuning.kiV = [0.195, 0.10]
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 88
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [
CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2
]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (
fw.fwVersion.startswith(b'\x02') or fw.fwVersion
in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.15
], [0.05]]
ret.lateralTuning.pid.kf = 0.00004
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.8190
ret.steerRatio = 16.06
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRation from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [20, 24, 30]
ret.lateralTuning.indi.innerLoopGainV = [7.25, 7.5, 9]
ret.lateralTuning.indi.outerLoopGainBP = [20, 24, 30]
ret.lateralTuning.indi.outerLoopGainV = [6, 7.25, 6]
ret.lateralTuning.indi.timeConstantBP = [20, 24]
ret.lateralTuning.indi.timeConstantV = [2.0, 2.2]
ret.lateralTuning.indi.actuatorEffectivenessBP = [20, 24]
ret.lateralTuning.indi.actuatorEffectivenessV = [2, 3]
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 1.25
ret.steerLimitTimer = 0.5
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.ALPHARD_TSS2:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True
ret.safetyConfigs[0].safetyParam = 130
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.PRIUS_ALPHA]:
stop_and_go = False
ret.safetyConfigs[0].safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 18
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = (len(found_ecus) > 0) and (
Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
if Params().get_bool(
'dp_atl') and not Params().get_bool('dp_atl_op_long'):
ret.openpilotLongitudinalControl = False
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpBP = [
0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.
]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
ret.longitudinalTuning.kiBP = [
0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.
]
ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
elif candidate in [
CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2,
CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.PRIUS_TSS2
]:
# Improved longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.startingAccelRate = 6.0 # release brakes fast
else:
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
# dp
ret = common_interface_get_params_lqr(ret)
if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.indi.timeConstantV = [0.1]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.steerRateCost = 0.5
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
# VW port is a community feature, since we don't own one to test
ret.communityFeature = True
if True: # pylint: disable=using-constant-test
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
ret.steerActuatorDelay = 0.05
if 0xAD in fingerprint[0]:
# Getriebe_11 detected: traditional automatic or DSG gearbox
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]:
# EV_Gearshift detected: e-Golf or similar direct-drive electric
ret.transmissionType = TransmissionType.direct
else:
# No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
cloudlog.info("Detected transmission type: %s",
ret.transmissionType)
# Global tuning defaults, can be overridden per-vehicle
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:
# Averages of all CA Atlas variants
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
# Averages of all AU Golf variants
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
# Averages of all BU Jetta variants
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
# Averages of all 3C Passat variants
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TIGUAN_MK2:
# Average of SWB and LWB variants
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.AUDI_A3_MK3:
# Averages of all 8V A3 variants
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.SEAT_ATECA_MK1:
# Averages of all 5F Ateca variants
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_KODIAQ_MK1:
# Averages of all 5N Kodiaq variants
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
# Averages of all 5E/NE Octavia variants
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
# Averages of all NW Scala variants
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
# Averages of all 3V/NP Scala variants
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True
ret.enableBsm = 0x30F in fingerprint[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, vin="", is_panda_black=False):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = is_panda_black
ret.enableCruise = False
# 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 = not any(x for x in STOCK_CONTROL_MSGS[candidate]
if x in fingerprint) or is_panda_black
ret.openpilotLongitudinalControl = ret.enableCamera
ret.lateralTuning.pid.dampTime = 0.0
ret.lateralTuning.pid.reactMPC = 0.025
ret.lateralTuning.pid.dampMPC = 0.1
ret.lateralTuning.pid.rateFFGain = 0.4
ret.lateralTuning.pid.polyFactor = 0.005
ret.lateralTuning.pid.polyDampTime = 0.15
ret.lateralTuning.pid.polyReactTime = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.01]]
ret.lateralTuning.pid.kf = 0.000035 # full torque for 20 deg at 80mph means 0.00007818594
tire_stiffness_factor = 0.444 # not optimized 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.safetyModel = car.CarParams.SafetyModel.gm
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.safetyModel = car.CarParams.SafetyModel.gm
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.safetyModel = car.CarParams.SafetyModel.gm
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.safetyModel = car.CarParams.SafetyModel.gm
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.safetyModel = car.CarParams.SafetyModel.gm
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.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.steerLimitAlert = True
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
def get_params(candidate, fingerprint, vin=""):
ret = car.CarParams.new_message()
ret.carName = "subaru"
ret.carFingerprint = candidate
ret.carVin = vin
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableCruise = True
ret.steerLimitAlert = True
ret.enableCamera = True
ret.steerRateCost = 0.7
if candidate in [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
]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerRatioRear = 0.
# testing tuning
# No long control in subaru
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# end from gm
# 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,
disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.chrysler)
]
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020,
CAR.JEEP_CHEROKEE_2019):
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018,
CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID,
CAR.PACIFICA_2020):
ret.mass = 2242. + STD_CARGO_KG
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[
9., 20.
], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.15, 0.30
], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Jeep
elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.mass = 1778 + STD_CARGO_KG
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[
9., 20.
], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.15, 0.30
], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.centerToFront = ret.wheelbase * 0.44
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableBsm = 720 in fingerprint[0]
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.automatic
if candidate in CAMERA_ACC_CAR:
ret.openpilotLongitudinalControl = False
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarOffCan = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
ret.radarOffCan = False
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
tire_stiffness_factor = 0.444 # not optimized yet
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
if candidate == CAR.VOLT:
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
ret.mass = 1496. + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.7
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.49
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
elif candidate == CAR.BOLT_EUV:
ret.minEnableSpeed = -1
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.675
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.minEnableSpeed = -1
ret.mass = 2200. + STD_CARGO_KG
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 1.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
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.openpilotLongitudinalControl = Params().get_bool(
'LongControlEnabled')
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if candidate in [CAR.SONATA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# 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 = 0.8
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 90.
ret.startAccel = 1.0
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
# genesis
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 == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
# hyundai
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
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
if eps_modified:
ret.maxSteeringAngleDeg = 1000.
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1395. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate in [CAR.GRANDEUR_IG, CAR.GRANDEUR_IG_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.maxSteeringAngleDeg = 120.
elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.maxSteeringAngleDeg = 120.
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.9
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
elif candidate == CAR.STINGER:
tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
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
tire_stiffness_factor = 0.7
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.6
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
tire_stiffness_factor = 0.7
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.7
ret.mass = 1650. + STD_CARGO_KG
ret.wheelbase = 2.855
elif candidate == CAR.SELTOS:
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.3]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.6]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.]
ret.steerRatio = 16.5
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 2.5
ret.minSteerSpeed = 0
ret.steerRateCost = 0.4
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.5]
if ret.openpilotLongitudinalControl:
ret.longitudinalTuning.kpBP = [
0., 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS, 40. * CV.KPH_TO_MS,
70. * CV.KPH_TO_MS, 100. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [0.95, 0.75, 0.6, 0.5, 0.43, 0.38]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.015]
ret.longitudinalTuning.kf = 0.5
ret.longitudinalTuning.deadzoneBP = [0., 100. * CV.KPH_TO_MS]
ret.longitudinalTuning.deadzoneV = [0., 0.015]
ret.gasMaxBP = [
0., 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS, 70. * CV.KPH_TO_MS,
130. * CV.KPH_TO_MS
]
ret.gasMaxV = [0.4, 0.28, 0.2, 0.14, 0.11]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.3]
ret.stoppingBrakeRate = 0.15 # brake_travel/s while trying to stop
ret.startingBrakeRate = 0.6 # brake_travel/s while releasing on restart
ret.startAccel = 1.5
else:
# scc smoother
ret.longitudinalTuning.kpBP = [
0., 10. * CV.KPH_TO_MS, 40. * CV.KPH_TO_MS, 100. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [1.3, 1.2, 1.0, 0.45]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.radarTimeStep = 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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
# 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
print("!!!!! BUS", "MDPS", ret.mdpsBus, "SAS", ret.sasBus, "SCC",
ret.sccBus)
ret.radarOffCan = ret.sccBus == -1
ret.enableCruise = not ret.radarOffCan
# 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 Params(
).get_bool('MadModeEnabled'):
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "subaru"
ret.radarOffCan = True
if candidate in PREGLOBAL_CARS:
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
ret.enableBsm = 0x25c in fingerprint[0]
else:
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableBsm = 0x228 in fingerprint[0]
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
if candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
if candidate == CAR.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=[]): # 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, CAR.PALISADE]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 90.
ret.startAccel = 1.0
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
if eps_modified:
ret.maxSteeringAngleDeg = 1000.
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.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
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 != CAR.IONIQ_EV_2020:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
# Kia
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_NIRO_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.73 # Spec
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 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, 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]:
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
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=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_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 == CAR.ELANTRA:
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.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 = 35 * CV.MPH_TO_MS
elif candidate == CAR.KIA_OPTIMA:
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.
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 = "toyota"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.toyota)
]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
# Most cars use this default safety param
ret.safetyConfigs[0].safetyParam = 73
if candidate == CAR.PRIUS:
ret.safetyConfigs[
0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
ret.steerActuatorDelay = 0.3
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
elif candidate == CAR.COROLLA:
ret.safetyConfigs[0].safetyParam = 88
stop_and_go = False
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
set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_B)
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
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
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
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
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
ret.wheelSpeedFactor = 1.035
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_E)
ret.wheelSpeedFactor = 1.035
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in [
CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2
]:
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
stop_and_go = False
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (
fw.fwVersion.startswith(b'\x02') or fw.fwVersion
in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
break
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
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
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.LEXUS_ESH:
stop_and_go = True
ret.wheelbase = 2.8190
ret.steerRatio = 16.06
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate == CAR.LEXUS_IS:
ret.safetyConfigs[0].safetyParam = 77
stop_and_go = False
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_RC:
ret.safetyConfigs[0].safetyParam = 77
stop_and_go = False
ret.wheelbase = 2.73050
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_CTH:
ret.safetyConfigs[0].safetyParam = 100
stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.ALPHARD_TSS2:
stop_and_go = True
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = (len(found_ecus) > 0) and (
Ecu.dsu
not in found_ecus) and (candidate
not in NO_DSU_CAR) and (not smartDsu)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
if ret.enableGasInterceptor:
set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
elif candidate in [
CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2,
CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.HIGHLANDER_TSS2,
CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2
]:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.startingAccelRate = 6.0 # release brakes fast
else:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
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.hyundaiLegacy
#if candidate in [CAR.SONATA]:
# ret.safetyModel = car.CarParams.SafetyModel.hyundai
params = Params()
PidKp = int(params.get('PidKp')) * 0.01
PidKi = int(params.get('PidKi')) * 0.001
PidKf = int(params.get('PidKf')) * 0.00001
InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1
OuterLoopGain = int(params.get('OuterLoopGain')) * 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')) * 0.0001
LqrSteerMaxV = int(params.get('SteerMaxvAdj')) * 0.1
# 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')) * 0.01
ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.01
ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.01
ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1
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 == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
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.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
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, CAR.IONIQ_EV_LTD]:
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
if int(params.get('LateralControlMethod')) == 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]
elif int(params.get('LateralControlMethod')) == 1:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
elif int(params.get('LateralControlMethod')) == 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.]
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 = 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 = 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(),
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
# Hyundai port is a community feature for now
ret.communityFeature = 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]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == 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 == 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]]
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.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.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_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.hyundai
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.3 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.1
tire_stiffness_factor = 0.7
#Long tuning Params - make individual params for cars, baseline Hyundai genesis
ret.longitudinalTuning.kpBP = [0., 1., 10., 35.]
ret.longitudinalTuning.kpV = [0.08, 1., .65, .65]
ret.longitudinalTuning.kiBP = [0., 15., 35.]
ret.longitudinalTuning.kiV = [.3, .25, .15]
ret.longitudinalTuning.deadzoneBP = [0., .5]
ret.longitudinalTuning.deadzoneV = [0.00, 0.00]
ret.gasMaxBP = [0., 1., 1.1, 15., 40.]
ret.gasMaxV = [2., 2., 2., 1.68, 1.3]
ret.brakeMaxBP = [0., 5., 5.1]
ret.brakeMaxV = [3.5, 3.5, 3.5] # safety limits to stop unintended deceleration
ret.longitudinalTuning.kfBP = [0., 5., 10., 20., 30.]
ret.longitudinalTuning.kfV = [1., 1., 1., 1., 1.]
ret.lateralTuning.pid.kpBP = [0., 10., 30.]
ret.lateralTuning.pid.kpV = [0.01, 0.02, 0.03]
ret.lateralTuning.pid.kiBP = [0., 10., 30.]
ret.lateralTuning.pid.kiV = [0.001, 0.0015, 0.002]
ret.lateralTuning.pid.kfBP = [0., 10., 30.]
ret.lateralTuning.pid.kfV = [0.000015, 0.00002, 0.000025]
if opParams().get('Enable_INDI'):
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.outerLoopGain = 3. # stock is 2.0. Trying out 2.5
ret.lateralTuning.indi.innerLoopGain = 2.
ret.lateralTuning.indi.timeConstant = 1.4
ret.lateralTuning.indi.actuatorEffectiveness = 2.
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2017]:
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
ret.steerRatio = 16.55
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15
elif candidate in [CAR.SONATA_2019, CAR.SONATA_HEV_2019]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2020:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.minSteerSpeed = 55 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.0
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.5
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G80:
ret.steerActuatorDelay = 0.4
ret.steerRateCost = 0.45
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_STINGER:
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate in [CAR.IONIQ_HEV, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate == CAR.KIA_FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
elif candidate == CAR.VELOSTER:
ret.mass = 2960. * CV.LB_TO_KG
ret.wheelbase = 2.69
ret.steerRatio = 13.75 * 1.15
elif candidate in [CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_EV]:
ret.steerRatio = 13.73
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1719. + STD_CARGO_KG
ret.wheelbase = 2.8
ret.steerRatio = 12.5* 1.15
elif candidate in [CAR.KIA_CADENZA, CAR.KIA_CADENZA_HEV]:
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.85
ret.steerRatio = 12.5 * 1.15
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.mdpsHarness = Params().get('MdpsHarnessEnabled') == b'1'
ret.sasBus = 0 if (688 in fingerprint[0] or not ret.mdpsHarness) else 1
ret.fcaBus = 0 if 909 in fingerprint[0] else 2 if 909 in fingerprint[2] else -1
ret.bsmAvailable = True if 1419 in fingerprint[0] else False
ret.lfaAvailable = True if 1157 in fingerprint[2] else False
ret.lvrAvailable = True if 871 in fingerprint[0] else False
ret.evgearAvailable = True if 882 in fingerprint[0] else False
ret.emsAvailable = True if 608 and 809 in fingerprint[0] else False
if Params().get('SccEnabled') == b'1':
ret.sccBus = 2 if 1057 in fingerprint[2] and Params().get('SccHarnessPresent') == b'1' else 0 if 1057 in fingerprint[0] else -1
else:
ret.sccBus = -1
ret.radarOffCan = (ret.sccBus == -1)
ret.radarTimeStep = .05
ret.openpilotLongitudinalControl = Params().get('LongControlEnabled') == b'1' and not (ret.sccBus == 0)
if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_HEV, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.SONATA_HEV, CAR.SANTA_FE, CAR.GENESIS_G80,
CAR.GENESIS_G90]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if ret.mdpsHarness or \
(candidate in [CAR.KIA_OPTIMA_HEV, CAR.SONATA_HEV, CAR.IONIQ_HEV, CAR.SONATA_HEV_2019,
CAR.KIA_CADENZA_HEV, CAR.GRANDEUR_HEV, CAR.KIA_NIRO_HEV, CAR.KONA_HEV]):
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
if ret.radarOffCan or (ret.sccBus == 2) or Params().get('EnableOPwithCC') == b'0':
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunityNonscc
if ret.mdpsHarness or opParams().get('smartMDPS'):
ret.minSteerSpeed = 0.
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 = True
ret.radarDisablePossible = Params().get('RadarDisableEnabled') == b'1'
ret.enableCruise = Params().get('EnableOPwithCC') == b'1' and ret.sccBus == 0
if ret.radarDisablePossible:
ret.openpilotLongitudinalControl = True
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunityNonscc # todo based on toggle
ret.sccBus = -1
ret.enableCruise = False
ret.radarOffCan = True
if ret.fcaBus == 0:
ret.fcaBus = -1
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)
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 = [[0.2],
[0.05]]
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 = [[0.28],
[0.08]]
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 = [[0.28],
[0.08]]
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(),
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.
ret.mass = 1700 + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.45
ret.steerRatio = 15.6
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
tire_stiffness_factor = 0.6
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, vin="", is_panda_black=False):
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = is_panda_black
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBosch
ret.enableCamera = True
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModel.honda
ret.enableCamera = not any(
x for x in CAMERA_MSGS if x in fingerprint) or is_panda_black
ret.enableGasInterceptor = 0x201 in fingerprint
ret.openpilotLongitudinalControl = ret.enableCamera
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. 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.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
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
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
if is_fw_modified:
ret.lateralTuning.pid.kf = 0.00004
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.4
], [0.12]] if is_fw_modified else [[0.8], [0.24]]
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.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 and CRV 5G 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
tire_stiffness_factor = 0.8467
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.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
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 == CAR.CRV:
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
tire_stiffness_factor = 0.444 # not optimized yet
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 and CRV 5G 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
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.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G 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
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.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
tire_stiffness_factor = 0.444 # not optimized yet
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.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
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 # spec
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35 # from CAR.ODYSSEY
tire_stiffness_factor = 0.82 # from CAR.ODYSSEY
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 # average weight distribution
ret.steerRatio = 17.25 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
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
tire_stiffness_factor = 0.444 # not optimized yet
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]
else:
raise ValueError("unsupported car %s" % candidate)
ret.steerControlType = car.CarParams.SteerControlType.torque
# 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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
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.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
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 = 0.125 # 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):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mazda"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.mazda)
]
ret.radarOffCan = True
ret.dashcamOnly = True
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
if candidate == CAR.CX5:
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CX9, CAR.CX9_2021]:
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.019]]
ret.lateralTuning.pid.kf = 0.00006
# No steer below disable speed
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "ford"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.ford
ret.dashcamOnly = True
# pedal
ret.enableCruise = 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
# 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.
# 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.angle
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1.0] # 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 = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
ECU.CAM) or has_relay
ret.openpilotLongitudinalControl = False
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
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]
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 = RADAR_START_ADDR not in fingerprint[1]
ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.PALISADE]
ret.safetyParam = 0
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE] or ret.openpilotLongitudinalControl
ret.pcmCruise = not ret.openpilotLongitudinalControl
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.stoppingDecelRate = 2.0
ret.startAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s
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.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]
if ret.openpilotLongitudinalControl:
ret.safetyParam |= Panda.FLAG_HYUNDAI_LONG
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
if True: # pylint: disable=using-constant-test
# Set global MQB parameters
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.volkswagen)
]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1]
for msg in [0x40, 0x86, 0xB2, 0xFD
]): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.05
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.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("unsupported car %s" % candidate)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
