def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None,
disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "tesla"
# There is no safe way to do steer blending with user torque,
# so the steering behaves like autopilot. This is not
# how openpilot should be, hence dashcamOnly
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
# Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
ret.longitudinalTuning.kpBP = [0]
ret.longitudinalTuning.kpV = [0]
ret.longitudinalTuning.kiBP = [0]
ret.longitudinalTuning.kiV = [0]
ret.stopAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.radarTimeStep = (1.0 / 8) # 8Hz
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
# If so, we assume that it is connected to the longitudinal harness.
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (
0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla,
Panda.FLAG_TESLA_LONG_CONTROL),
get_safety_config(
car.CarParams.SafetyModel.tesla,
Panda.FLAG_TESLA_LONG_CONTROL
| Panda.FLAG_TESLA_POWERTRAIN),
]
else:
ret.openpilotLongitudinalControl = False
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, 0)
]
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
ret.steerRateCost = 0.5
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100. + STD_CARGO_KG
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "ford"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
ret.dashcamOnly = True
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 1.0
ret.steerRateCost = 1.0
ret.centerToFront = ret.wheelbase * 0.44
tire_stiffness_factor = 0.5328
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerControlType = car.CarParams.SteerControlType.angle
return ret
def get_params(candidate,
fingerprint=None,
car_fw=None,
disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.notCar = True
ret.carName = "body"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
ret.minSteerSpeed = -math.inf
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
ret.steerRatio = 0.5
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.
ret.mass = 9
ret.wheelbase = 0.406
ret.wheelSpeedFactor = SPEED_FROM_RPM
ret.centerToFront = ret.wheelbase * 0.44
ret.radarOffCan = True
ret.openpilotLongitudinalControl = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "tesla"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla)]
# There is no safe way to do steer blending with user torque,
# so the steering behaves like autopilot. This is not
# how openpilot should be, hence dashcamOnly
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.openpilotLongitudinalControl = False
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
ret.mass = 2100. + STD_CARGO_KG
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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 = "mazda"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarOffCan = True
ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
if candidate in (CAR.CX5, CAR.CX5_2022):
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
if candidate not in (CAR.CX5_2022, ):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
min_steer_check = opParams.get('steer.checkMinimum')
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.chrysler)
]
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.],
[9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30],
[0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
ret.enableBsm = True
ret.centerToFront = ret.wheelbase * 0.44
if min_steer_check:
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020,
CAR.JEEP_CHEROKEE_2019):
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.openpilotLongitudinalControl = True # kind of...
ret.pcmCruiseSpeed = False # Let jvePilot control the pcm cruise speed
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 = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
ret.mass = 1700.
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "nissan"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.nissan)
]
ret.lateralTuning.init('pid')
ret.steerLimitAlert = False
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1
if candidate in [CAR.ROGUE, CAR.XTRAIL]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
# dp
ret = common_interface_get_params_lqr(ret)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None,
disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
if True: # pylint: disable=using-constant-test
# Set global MQB parameters
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.volkswagen)
]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1]
for msg in (0x40, 0x86, 0xB2,
0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG
ret.wheelbase = 2.55
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
else:
raise ValueError(f"unsupported car {candidate}")
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), 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(), car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.openpilotLongitudinalControl = Params().get_bool(
'LongControlEnabled')
ret.carName = "hyundai"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy, 0)
]
ret.communityFeature = True
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 1000.
# lateral
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1550.
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]
ret.steerRatio = 16.5
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 2.5
ret.steerRateCost = 0.4
ret.steerMaxBP = [0.]
ret.steerMaxV = [2.]
# longitudinal
ret.longitudinalTuning.kpBP = [
0., 5. * CV.KPH_TO_MS, 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS,
130. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [1.6, 1.18, 0.9, 0.78, 0.48]
ret.longitudinalTuning.kiBP = [0., 130. * CV.KPH_TO_MS]
ret.longitudinalTuning.kiV = [0.1, 0.06]
ret.stopAccel = -2.0
ret.stoppingDecelRate = 0.6 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation
# genesis
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.centerToFront = ret.wheelbase * 0.4
ret.maxSteeringAngleDeg = 90.
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_EQ900:
ret.mass = 2200
ret.wheelbase = 3.15
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_EQ900_L:
ret.mass = 2290
ret.wheelbase = 3.45
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_G90:
ret.mass = 2150
ret.wheelbase = 3.16
ret.centerToFront = ret.wheelbase * 0.4
# hyundai
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
ret.mass = 1750 + STD_CARGO_KG
ret.wheelbase = 2.766
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.SONATA, CAR.SONATA_HEV, CAR.SONATA21_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1395. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [
CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV
]:
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
#if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
# ret.minSteerSpeed = 32 * CV.MPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.4
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.centerToFront = ret.wheelbase * 0.385
ret.steerRatio = 17.5
elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1725. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.centerToFront = ret.wheelbase * 0.385
ret.steerRatio = 17.5
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.9
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.TUCSON_TL_SCC:
ret.mass = 1594. + STD_CARGO_KG #1730
ret.wheelbase = 2.67
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.K5_2021]:
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
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
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.6
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.NIRO_EV, CAR.NIRO_HEV, CAR.NIRO_HEV_2021]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.7
ret.mass = 1650. + STD_CARGO_KG
ret.wheelbase = 2.855
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 17.5
elif candidate == CAR.SELTOS:
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.K9:
ret.mass = 2005. + STD_CARGO_KG
ret.wheelbase = 3.15
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 0.8
ret.steerRatio = 14.5
ret.lateralTuning.lqr.scale = 1650.
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.0027
ret.radarTimeStep = 0.05
if ret.centerToFront == 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.stoppingControl = True
ret.enableBsm = 0x58b in fingerprint[0]
ret.enableAutoHold = 1151 in fingerprint[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
if ret.sccBus >= 0:
ret.hasScc13 = 1290 in fingerprint[ret.sccBus]
ret.hasScc14 = 905 in fingerprint[ret.sccBus]
ret.hasEms = 608 in fingerprint[0] and 809 in fingerprint[0]
ret.radarOffCan = ret.sccBus == -1
ret.pcmCruise = 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.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiCommunity,
0)
]
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)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.unsafeMode = 1 # UNSAFE_DISABLE_DISENGAGE_ON_GAS
ret.pcmCruise = False # stock cruise control is kept off
ret.openpilotLongitudinalControl = True # ASCM vehicles use OP for long
ret.radarOffCan = False # ASCM vehicles (typically) have radar
# 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/test/test_routes, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
# TODO: safety param should be a bitmask so we can pass info about ACC type?
# Default to normal torque limits
ret.safetyConfigs[0].safetyParam = 0
# 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).
# LKAS only - no radar, no long
if candidate in NO_ASCM:
ret.openpilotLongitudinalControl = False
ret.radarOffCan = True
# TODO: How Do we detect vehicles using stock cam-based ACC?
#ret.pcmCruise = True
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# # Check for Electronic Parking Brake
# TODO: JJS: Add param to cereal
# ret.hasEPB = 0x230 in fingerprint[0]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
if ret.enableGasInterceptor:
ret.openpilotLongitudinalControl = True
if candidate == CAR.VOLT or candidate == CAR.VOLT_NR:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = -1 * CV.MPH_TO_MS
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.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0.0, 0.19]
ret.lateralTuning.pid.kiBP = [i * CV.MPH_TO_MS for i in [0., 15., 55., 80.]]
ret.lateralTuning.pid.kiV = [0., .018, .012, .01]
ret.lateralTuning.pid.kdBP = [i * CV.MPH_TO_MS for i in [0., 35.]]
ret.lateralTuning.pid.kdV = [0., 0.07]
ret.lateralTuning.pid.kf = 1. # !!! ONLY for sigmoid feedforward !!!
ret.steerActuatorDelay = 0.2
# Only tuned to reduce oscillations. TODO.
ret.longitudinalTuning.kpV = [1.7, 1.3]
ret.longitudinalTuning.kiV = [0.34]
ret.longitudinalTuning.kdV = [0.2]
elif candidate == CAR.MALIBU or candidate == CAR.MALIBU_NR:
# 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 or candidate == CAR.ACADIA_NR:
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
ret.lateralTuning.pid.kpBP = [i * CV.MPH_TO_MS for i in [20., 80.]]
ret.lateralTuning.pid.kpV = [0.18, 0.26]
ret.lateralTuning.pid.kiBP = [i * CV.MPH_TO_MS for i in [0., 15., 55., 80.]]
ret.lateralTuning.pid.kiV = [0., .018, .012, .01]
ret.lateralTuning.pid.kdV = [0.06]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.steerMaxBP = [10., 25.]
ret.steerMaxV = [1., 1.05]
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
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_NR:
ret.minEnableSpeed = -1
ret.minSteerSpeed = 5 * CV.MPH_TO_MS
ret.mass = 1616. + STD_CARGO_KG
ret.wheelbase = 2.60096
ret.steerRatio = 16.8
ret.steerRatioRear = 0.
ret.centerToFront = 2.0828 #ret.wheelbase * 0.4 # wild guess
tire_stiffness_factor = 1.0
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18, 0.275], [0.01, 0.021]]
#unsure of kdV value
ret.lateralTuning.pid.kdV = [0.3]
ret.lateralTuning.pid.kf = 0.0002
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.3]
# Assumes the Bolt is using L-Mode for regen braking.
ret.longitudinalTuning.kpBP = [0., 35]
ret.longitudinalTuning.kpV = [0.2, 0.43]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.22, 0.31]
ret.stoppingDecelRate = 0.17 # reach stopping target smoothly, brake_travel/s while trying to stop
ret.stopAccel = 10.0 # Required acceleraton to keep vehicle stationary
ret.vEgoStopping = 0.5 # Speed at which the car goes into stopping state, when car starts requesting stopping accel
ret.vEgoStarting = 0.5 # Speed at which the car goes into starting state, when car starts requesting starting accel,
# vEgoStarting needs to be > or == vEgoStopping to avoid state transition oscillation
ret.stoppingControl = True
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
elif candidate == CAR.EQUINOX_NR:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.72 #107.3 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0. # unknown online
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.TAHOE_NR:
ret.minEnableSpeed = -1. # engage speed is decided by pcmFalse
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
ret.mass = 5602. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.95 #116 inches in meters
ret.steerRatio = 16.3 # guess for tourx
ret.steerRatioRear = 0. # unknown online
ret.centerToFront = 2.59 # ret.wheelbase * 0.4 # wild guess
ret.steerActuatorDelay = 0.075
ret.pcmCruise = True # TODO: see if this resolves cruiseMismatch
ret.openpilotLongitudinalControl = False # ASCM vehicles use OP for long
ret.radarOffCan = True # ASCM vehicles (typically) have radar
elif candidate == CAR.SILVERADO_NR:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
ret.mass = 2241. + STD_CARGO_KG
ret.wheelbase = 3.745
ret.steerRatio = 16.3 # Determined by skip # 16.3 # From a 2019 SILVERADO
ret.lateralTuning.pid.kpBP = [i * CV.MPH_TO_MS for i in [20., 80.]]
ret.lateralTuning.pid.kpV = [0.18, 0.3]
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kiV = [0.025]
ret.lateralTuning.pid.kdV = [0.35]
ret.lateralTuning.pid.kf = 0.0015 # !!! ONLY for (angle * vEgo) feedforward !!!
ret.centerToFront = ret.wheelbase * 0.49
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.075 # Determined by skip # 0.075
ret.pcmCruise = True # TODO: see if this resolves cruiseMismatch
elif candidate == CAR.SUBURBAN:
ret.minEnableSpeed = -1. # engage speed is decided by pcmFalse
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
ret.mass = 1278. + STD_CARGO_KG
ret.wheelbase = 3.302
ret.steerRatio = 16.3 # COPIED FROM SILVERADO
ret.centerToFront = ret.wheelbase * 0.49
ret.steerActuatorDelay = 0.075
ret.pcmCruise = True # TODO: see if this resolves cruiseMismatch
ret.openpilotLongitudinalControl = False # ASCM vehicles use OP for long
ret.radarOffCan = True # ASCM vehicles (typically) have radar
if candidate in HIGH_TORQUE:
ret.safetyConfigs[0].safetyParam = 1 # set appropriate safety param for increased torque limits to match values.py
# 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.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=[],
disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundai, 0)
]
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[
ret.carFingerprint]["radar"] is None
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = disable_radar and (
candidate not in LEGACY_SAFETY_MODE_CAR)
ret.pcmCruise = not ret.openpilotLongitudinalControl
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30
} or candidate in HDA2_CAR
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
ret.stoppingControl = True
ret.vEgoStopping = 1.0
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
ret.stopAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022,
CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.ELANTRA_HEV_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {
CAR.KONA_EV: 1685.,
CAR.KONA_HEV: 1425.
}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020,
CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV,
CAR.IONIQ_HEV_2022):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.IONIQ_PHEV_2019:
ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
ret.wheelbase = 2.7
ret.steerRatio = 13.73
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [2.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.5]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.TUCSON_DIESEL_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3633. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# Kia
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV,
CAR.KIA_NIRO_HEV_2021):
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
if candidate == CAR.KIA_NIRO_HEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [4.]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_CEED:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1450. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_K5_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)
]
tire_stiffness_factor = 0.65
max_lat_accel = 2.
set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01)
# Genesis
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [2.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [3.5]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G70_2020:
ret.lateralTuning.pid.kf = 0.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112],
[0.004]]
ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 12.9
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in LEGACY_SAFETY_MODE_CAR:
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)
]
# set appropriate safety param for gas signal
if candidate in HYBRID_CAR:
ret.safetyConfigs[0].safetyParam = 2
elif candidate in EV_CAR:
ret.safetyConfigs[0].safetyParam = 1
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x58b in fingerprint[0]
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None,
disable_radar=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
if candidate in PQ_CARS:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.volkswagenPq)
]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0]: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1]
for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
# EPS flash update to work around this timer, and enable steering down to zero, is available from:
# https://github.com/pd0wm/pq-flasher
# It is documented in a four-part blog series:
# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
if disable_radar and ret.networkLocation == NetworkLocation.gateway:
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[
0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
else:
# Set global MQB parameters
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.volkswagen)
]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0]: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1]
for msg in (0x40, 0x86, 0xB2,
0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503 + STD_CARGO_KG
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate,
ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG
ret.wheelbase = 2.55
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
else:
raise ValueError(f"unsupported car {candidate}")
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
steering_angle_deadzone_deg = 0.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
if candidate == CAR.PRIUS:
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
# Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
steering_angle_deadzone_deg = 1.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate == CAR.PRIUS_V:
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.CHR, CAR.CHRH):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
# starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
stop_and_go = True
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
stop_and_go = True
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
if not ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear
if candidate in EV_HYBRID_CAR:
ret.flags |= ToyotaFlags.HYBRID.value
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
if ret.enableGasInterceptor:
set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
elif candidate in TSS2_CAR:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=[],
disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.openpilotLongitudinalControl = Params().get_bool(
'LongControlEnabled')
ret.carName = "hyundai"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiCommunity, 0)
]
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 1000.
ret.steerFaultMaxAngle = 85
ret.steerFaultMaxFrames = 90
ret.disableLateralLiveTuning = False
# lateral
lateral_control = Params().get("LateralControl", encoding='utf-8')
if lateral_control == 'INDI':
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.3]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.8]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif lateral_control == 'LQR':
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1600.
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.0025
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]
else:
ret.lateralTuning.init('torque')
ret.lateralTuning.torque.useSteeringAngle = True
max_lat_accel = 2.5
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.2 / max_lat_accel
ret.lateralTuning.torque.friction = 0.0
ret.lateralTuning.torque.kd = 1.0
ret.lateralTuning.torque.deadzone = 0.01
ret.steerRatio = 16.5
ret.steerActuatorDelay = 0.2
ret.steerRateCost = 0.4
ret.steerLimitTimer = 2.5
# longitudinal
ret.longitudinalTuning.kpBP = [
0., 5. * CV.KPH_TO_MS, 10. * CV.KPH_TO_MS, 30. * CV.KPH_TO_MS,
130. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [1.2, 1.0, 0.93, 0.88, 0.5]
ret.longitudinalTuning.kiBP = [0., 130. * CV.KPH_TO_MS]
ret.longitudinalTuning.kiV = [0.1, 0.05]
ret.longitudinalActuatorDelayLowerBound = 0.3
ret.longitudinalActuatorDelayUpperBound = 0.3
ret.stopAccel = -2.0
ret.stoppingDecelRate = 0.4 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
# genesis
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_EQ900:
ret.mass = 2200
ret.wheelbase = 3.15
ret.centerToFront = ret.wheelbase * 0.4
# thanks to 파파
ret.steerRatio = 16.0
ret.steerActuatorDelay = 0.075
ret.steerRateCost = 0.4
if ret.lateralTuning.which() == 'torque':
ret.lateralTuning.torque.useSteeringAngle = True
max_lat_accel = 2.5
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.1 / max_lat_accel
ret.lateralTuning.torque.friction = 0.01
ret.lateralTuning.torque.kd = 0.0
elif candidate == CAR.GENESIS_EQ900_L:
ret.mass = 2290
ret.wheelbase = 3.45
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.GENESIS_G90:
ret.mass = 2150
ret.wheelbase = 3.16
ret.centerToFront = ret.wheelbase * 0.4
# hyundai
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
ret.mass = 1750 + STD_CARGO_KG
ret.wheelbase = 2.766
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.SONATA, CAR.SONATA_HEV, CAR.SONATA21_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.4
# thanks to 지구별(alexhys)
ret.steerRatio = 16.0
ret.steerActuatorDelay = 0.075
ret.steerRateCost = 0.4
if ret.lateralTuning.which() == 'torque':
ret.lateralTuning.torque.useSteeringAngle = True
max_lat_accel = 2.3
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.1 / max_lat_accel
ret.lateralTuning.torque.friction = 0.0
ret.lateralTuning.torque.kd = 0.1
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1395. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [
CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV
]:
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
#if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
# ret.minSteerSpeed = 32 * CV.MPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.GRANDEUR_IG, CAR.GRANDEUR_IG_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.centerToFront = ret.wheelbase * 0.385
ret.steerRatio = 16.
elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1600. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.centerToFront = ret.wheelbase * 0.385
ret.steerRatio = 17.
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.9
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.TUCSON_TL_SCC:
ret.mass = 1594. + STD_CARGO_KG #1730
ret.wheelbase = 2.67
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.K5_2021]:
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
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
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.6
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate in [CAR.NIRO_EV, CAR.NIRO_HEV, CAR.NIRO_HEV_2021]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.SELTOS:
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.MOHAVE:
ret.mass = 2285. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 0.8
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.7
ret.mass = 1650. + STD_CARGO_KG
ret.wheelbase = 2.855
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 17.25
elif candidate == CAR.K9:
ret.mass = 2005. + STD_CARGO_KG
ret.wheelbase = 3.15
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 0.8
ret.steerRatio = 14.5
ret.steerRateCost = 0.4
if ret.lateralTuning.which() == 'torque':
ret.lateralTuning.torque.useSteeringAngle = True
max_lat_accel = 2.5
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.1 / max_lat_accel
ret.lateralTuning.torque.friction = 0.01
ret.lateralTuning.torque.kd = 0.0
elif candidate == CAR.EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)
]
tire_stiffness_factor = 0.65
if ret.lateralTuning.which() == 'torque':
ret.lateralTuning.torque.useSteeringAngle = True
max_lat_accel = 2.5
ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
ret.lateralTuning.torque.ki = 0.2 / max_lat_accel
ret.lateralTuning.torque.friction = 0.0
ret.lateralTuning.torque.kd = 1.0
ret.radarTimeStep = 0.05
if ret.centerToFront == 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.stoppingControl = True
if candidate in HDA2_CAR:
ret.enableBsm = 0x58b in fingerprint[0]
ret.radarOffCan = False
else:
ret.enableBsm = 0x58b in fingerprint[0]
ret.enableAutoHold = 1151 in fingerprint[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
if ret.sccBus >= 0:
ret.hasScc13 = 1290 in fingerprint[ret.sccBus]
ret.hasScc14 = 905 in fingerprint[ret.sccBus]
ret.hasEms = 608 in fingerprint[0] and 809 in fingerprint[0]
ret.hasLfaHda = 1157 in fingerprint[0]
ret.radarOffCan = ret.sccBus == -1
ret.pcmCruise = not ret.radarOffCan
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.dashcamOnly = candidate in RAM_HD
ret.radarOffCan = DBC[candidate]['radar'] is None
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
# safety config
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
if candidate in RAM_HD:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
ret.mass = 2242. + STD_CARGO_KG
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Jeep
elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.mass = 1778 + STD_CARGO_KG
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006
# Ram
elif candidate == CAR.RAM_1500:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493. + STD_CARGO_KG
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.minSteerSpeed = 14.5
if car_fw is not None:
for fw in car_fw:
if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785
ret.steerRatio = 15.61
ret.mass = 3405. + STD_CARGO_KG
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.centerToFront = ret.wheelbase * 0.44
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableBsm = 720 in fingerprint[0]
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "honda"
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarOffCan = True
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = disable_radar
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = not ret.enableGasInterceptor
if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
# Detect Bosch cars with new HUD msgs
if any(0x33DA in f for f in fingerprint.values()):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# Accord 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in HONDA_BOSCH:
ret.longitudinalTuning.kpV = [0.25]
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.CIVIC:
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.8467
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
tire_stiffness_factor = 0.677
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HRV:
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY:
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN:
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate in (CAR.PILOT, CAR.PASSPORT):
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else:
raise ValueError(f"unsupported car {candidate}")
# These cars use alternate user brake msg (0x1BE)
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundai, 0)
]
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = Params().get_bool(
"DisableRadar") and candidate in [
CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE
]
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.stopAccel = 0.0
ret.startAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.ELANTRA_HEV_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.5]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.0]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = {
CAR.KONA_EV: 1685.,
CAR.KONA_HEV: 1425.
}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.7
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,
CAR.IONIQ_HEV_2022
]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
if candidate not in [
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022
]:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.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]]
elif candidate == CAR.KIA_K5_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# 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, CAR.IONIQ_HEV_2022
]:
assert not ret.openpilotLongitudinalControl # Legacy safety mode doesn't support longitudinal
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)
]
# set appropriate safety param for gas signal
if candidate in HYBRID_CAR:
ret.safetyConfigs[0].safetyParam = 2
elif candidate in EV_CAR:
ret.safetyConfigs[0].safetyParam = 1
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x58b in fingerprint[0]
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
return ret
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.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.subaruLegacy)
]
ret.enableBsm = 0x25c in fingerprint[0]
else:
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.subaru)
]
ret.enableBsm = 0x228 in fingerprint[0]
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.0025, 0.1
], [0.00025, 0.01]]
if candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3],
[
0.02,
0.03
]]
if candidate == CAR.FORESTER:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 14., 23.
], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.01, 0.065, 0.2
], [0.001, 0.015, 0.025]]
if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
ret.safetyConfigs[
0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.000039
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 10., 20.
], [0., 10., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.01, 0.05, 0.2
], [0.003, 0.018, 0.025]]
if candidate == CAR.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(),
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)]
ret.pcmCruise = False # stock cruise control is kept off
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.openpilotLongitudinalControl = True
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
if candidate == CAR.VOLT:
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
ret.mass = 1496. + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.7
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.49
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.pcmCruise = False # stock cruise control is kept off
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.openpilotLongitudinalControl = True
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
return ret
