def __init__(self, CP, sendcan=None):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cam_can_valid_count = 0
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.forwarding_camera = False
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
def __init__(self, CP, logcan, sendcan=None):
self.logcan = logcan
self.CP = CP
self.frame = 0
self.can_invalid_count = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP, self.logcan)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
def __init__(self, CP, CarController):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.CC = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
class CarInterface(object):
def __init__(self, CP, CarController):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.forwarding_camera = False
self.CC = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 3.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint, vin=""):
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.carVin = vin
ret.safetyModel = car.CarParams.SafetyModel.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate != CAR.PRIUS:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.COROLLA_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007818594
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
# returns a car.CarState
def update(self, c, can_strings):
# ******************* do can recv *******************
self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
# run the cam can update for 10s as we just need to know if the camera is alive
if self.frame < 1000:
self.cp_cam.update_strings(int(sec_since_boot() * 1e9),
can_strings)
self.CS.update(self.cp)
# create message
ret = car.CarState.new_message()
ret.canValid = self.cp.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.car_gas
if self.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
ret.gasPressed = self.CS.pedal_gas > 15
else:
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed != 0
ret.brakeLights = self.CS.brake_lights
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_active
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
# also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
ret.leftBlinker = bool(self.CS.left_blinker_on)
ret.rightBlinker = bool(self.CS.right_blinker_on)
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.genericToggle = self.CS.generic_toggle
# events
events = []
if self.cp_cam.can_valid:
self.forwarding_camera = True
if not ret.gearShifter == 'drive' and self.CP.enableDsu:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.enableDsu:
events.append(
create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on and self.CP.enableDsu:
events.append(
create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse' and self.CP.enableDsu:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if (self.CS.left_blinker_on or self.CS.right_blinker_on
) and params.get("DragonEnableSteeringOnSignal") == "1":
events.append(
create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
elif self.CS.steer_error:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout and self.CP.enableDsu:
events.append(
create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if c.actuators.gas > 0.1:
# some margin on the actuator to not false trigger cancellation while stopping
events.append(
create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# DragonAllowGas
if params.get("DragonAllowGas") == "0":
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
else:
if ret.brakePressed and (not self.brake_pressed_prev
or ret.vEgo > 0.001):
events.append(
create_event('pedalPressed',
[ET.NO_ENTRY, ET.USER_DISABLE]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
can_sends = self.CC.update(
c.enabled, self.CS, self.frame, c.actuators,
c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.audibleAlert, self.forwarding_camera,
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
c.hudControl.leadVisible, c.hudControl.leftLaneDepart,
c.hudControl.rightLaneDepart)
self.frame += 1
return can_sends
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 3.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = True
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate == CAR.PRIUS:
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.0
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.5
f = 1.43353663
tireStiffnessFront_civic *= f
tireStiffnessRear_civic *= f
# Prius has a very bad actuator
ret.steerActuatorDelay = 0.25
elif candidate in [CAR.RAV4, CAR.RAV4H]:
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65
ret.steerRatio = 14.5 # Rav4 2017
ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.
elif candidate == CAR.COROLLA:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.
elif candidate == CAR.LEXUS_RXH:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 16. # official specs say 14.8, but it does not seem right
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerRateCost = .8
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
if candidate in [CAR.PRIUS, CAR.RAV4H,
CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4,
CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
print "ECU Camera Simulated: ", ret.enableCamera
print "ECU DSU Simulated: ", ret.enableDsu
print "ECU APGS Simulated: ", ret.enableApgs
ret.steerLimitAlert = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
return ret
# returns a car.CarState
def update(self, c):
# ******************* do can recv *******************
canMonoTimes = []
self.cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.cp)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.car_gas
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed != 0
ret.brakeLights = self.CS.brake_lights
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint == CAR.RAV4H:
# ignore standstill in hybrid rav4, since pcm allows to restart without
# receiving any special command
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
# TODO: button presses
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
ret.leftBlinker = bool(self.CS.left_blinker_on)
ret.rightBlinker = bool(self.CS.right_blinker_on)
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.genericToggle = self.CS.generic_toggle
# events
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(
create_event('commIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if not ret.gearShifter == 'drive' and self.CP.enableDsu:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.enableDsu:
events.append(
create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on and self.CP.enableDsu:
events.append(
create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse' and self.CP.enableDsu:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout and self.CP.enableDsu:
events.append(
create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if c.actuators.gas > 0.1:
# some margin on the actuator to not false trigger cancellation while stopping
events.append(
create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
ret.canMonoTimes = canMonoTimes
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel,
c.hudControl.visualAlert, c.hudControl.audibleAlert)
self.frame += 1
return False
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.CC = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 3.0
@staticmethod
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.enableCruise = True
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
# TODO: Determine if this is better than INDI
# ret.lateralTuning.init('lqr')
# ret.lateralTuning.lqr.scale = 1500.0
# ret.lateralTuning.lqr.ki = 0.01
# ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
# ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
# ret.lateralTuning.lqr.c = [1., 0.]
# ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.HIGHLANDER_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate == CAR.LEXUS_NXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.dsu) and candidate not in TSS2_CAR
ret.enableApgs = False # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera and (
ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# removing the DSU disables AEB and it's considered a community maintained feature
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
# returns a car.CarState
def update(self, c, can_strings):
# ******************* do can recv *******************
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
self.CS.update(self.cp, self.cp_cam)
# create message
ret = car.CarState.new_message()
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.car_gas
if self.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
ret.gasPressed = self.CS.pedal_gas > 15
else:
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed != 0
ret.brakeLights = self.CS.brake_lights
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringTorqueEps = self.CS.steer_torque_motor
ret.steeringPressed = self.CS.steer_override
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_active
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
# also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.leftBlinker
be.pressed = self.CS.left_blinker_on != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.rightBlinker
be.pressed = self.CS.right_blinker_on != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
ret.leftBlinker = bool(self.CS.left_blinker_on)
ret.rightBlinker = bool(self.CS.right_blinker_on)
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.genericToggle = self.CS.generic_toggle
ret.stockAeb = self.CS.stock_aeb
# events
events = []
if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera:
events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT]))
if not ret.gearShifter == GearShifter.drive and self.CP.openpilotLongitudinalControl:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.openpilotLongitudinalControl:
events.append(
create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on and self.CP.openpilotLongitudinalControl:
events.append(
create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse and self.CP.openpilotLongitudinalControl:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
events.append(
create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if c.actuators.gas > 0.1:
# some margin on the actuator to not false trigger cancellation while stopping
events.append(
create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
can_sends = self.CC.update(
c.enabled, self.CS, self.frame, c.actuators,
c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
c.hudControl.leadVisible, c.hudControl.leftLaneDepart,
c.hudControl.rightLaneDepart)
self.frame += 1
return can_sends
class CarInterface(object):
def __init__(self, CP, logcan, sendcan=None):
self.logcan = logcan
self.CP = CP
self.frame = 0
self.can_invalid_count = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP, self.logcan)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
@staticmethod
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.radarName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
ret.enableSteer = True
ret.enableBrake = True
# pedal
ret.enableCruise = True
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
m_civic = 2923./2.205 + std_cargo
l_civic = 2.70
aF_civic = l_civic * 0.4
aR_civic = l_civic - aF_civic
j_civic = 2500
cF_civic = 85400
cR_civic = 90000
stop_and_go = True
ret.m = 3045./2.205 + std_cargo
ret.l = 2.70
ret.aF = ret.l * 0.44
ret.sR = 14.5 #Rav4 2017, TODO: find exact value for Prius
if candidate == CAR.PRIUS:
ret.steerKp, ret.steerKi = 0.2, 0.01
elif candidate == CAR.RAV4: # rav4 control seem to be ok with integrators
ret.steerKp, ret.steerKi = 0.2, 0.05
ret.steerKf = 0.00007818594 # full torque for 10 deg at 80mph
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
if candidate == CAR.PRIUS:
ret.minEnableSpeed = -1.
elif candidate == CAR.RAV4: # TODO: hack Rav4 to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
ret.aR = ret.l - ret.aF
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.j = j_civic * ret.m * ret.l**2 / (m_civic * l_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.cF = cF_civic * ret.m / m_civic * (ret.aR / ret.l) / (aR_civic / l_civic)
ret.cR = cR_civic * ret.m / m_civic * (ret.aF / ret.l) / (aF_civic / l_civic)
# no rear steering, at least on the listed cars above
ret.chi = 0.
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False # not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
print "ECU Camera Simulated: ", ret.enableCamera
print "ECU DSU Simulated: ", ret.enableDsu
print "ECU APGS Simulated: ", ret.enableApgs
ret.enableGas = True
ret.steerLimitAlert = False
return ret
@staticmethod
def compute_gb(accel, speed):
# toyota interface is already in accelration cmd, so conversion to gas-brake it's a pass-through.
return accel
# returns a car.CarState
def update(self, c):
# ******************* do can recv *******************
can_pub_main = []
canMonoTimes = []
self.CS.update()
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.car_gas / 256.0
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed != 0
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = 0
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
# TODO: button presses
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
# events
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if not ret.gearShifter == 'drive' and self.CP.enableDsu:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.door_all_closed:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.seatbelt:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.enableDsu:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on and self.CP.enableDsu:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse' and self.CP.enableDsu:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout:
events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if c.actuators.gas > 0.1:
# some margin on the actuator to not false trigger cancellation while stopping
events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
ret.canMonoTimes = canMonoTimes
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.audibleAlert)
self.frame += 1
return False
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cam_can_valid_count = 0
self.cruise_enabled_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
self.forwarding_camera = False
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(self.cp.dbc_name, CP.carFingerprint,
CP.enableCamera, CP.enableDsu,
CP.enableApgs)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 3.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.001 # Default delay, Prius has larger delay
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 16.26 # 0.5.10 auto tune
tire_stiffness_factor = 0.7549 # hand-tune by Gernby
ret.mass = 3375 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.4], [0.05]]
ret.steerKf = 0.0001 # full torque for 10 deg at 80mph means 0.00007818594
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
ret.steerActuatorDelay = 0.018
#ret.steerKiBP, ret.steerKpBP = [[0.,27.,47.], [0.,27.,47.]]
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiV = [0.54, 0.36]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiV = [0.54, 0.36]
elif candidate in [CAR.RAV4]:
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.66 # 2.65 default
ret.steerRatio = 17.28 # Rav4 0.5.10 tuning value
ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.3], [0.03]] #0.6 0.05 default
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5533
ret.steerKf = 0.00001 # full torque for 10 deg at 80mph means 0.00007818594
if ret.enableGasInterceptor:
stop_and_go = True
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [0.1, 0.8, 0.8]
ret.longitudinalKiV = [0.06, 0.12]
else:
stop_and_go = False
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
elif candidate in [CAR.RAV4H]:
stop_and_go = True
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65 # 2.65 default
ret.steerRatio = 16.53 # 0.5.10 tuning
ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.3], [0.03]] #0.6 0.05 default
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5533
ret.steerKf = 0.0001 # full torque for 10 deg at 80mph means 0.00007818594
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.0, 0.5, 0.3]
ret.longitudinalKiV = [0.20, 0.10]
elif candidate == CAR.RAV4_2019:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.68986
ret.steerRatio = 17.0
tire_stiffness_factor = 0.7933
ret.mass = 3370. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.3], [0.05]]
ret.steerKf = 0.0001
ret.longitudinalKpV = [2.0, 1.0, 0.8]
ret.longitudinalKiV = [0.25, 0.14]
ret.gasMaxV = [0.2, 0.5, 0.7]
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.84 # 0.5.10
tire_stiffness_factor = 1.01794
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003909297 # full torque for 20 deg at 80mph means 0.00007818594
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 18.6 # 0.5.10
tire_stiffness_factor = 0.517 # 0.5.10
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.steerKpV, ret.steerKiV = [[0.2], [0.02]]
ret.steerKf = 0.00007 # full torque for 10 deg at 80mph means 0.00007818594
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 15.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.3], [0.03]]
ret.steerKf = 0.0001
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.82448
ret.steerRatio = 17.7 # 0.5.10
tire_stiffness_factor = 0.7933
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.3], [0.03]]
ret.steerKf = 0.0001
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.78
ret.steerRatio = 17.36 # 0.5.10
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
ret.steerKpV, ret.steerKiV = [[0.18], [0.0075]]
ret.steerKf = 0.00015
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [3.6, 1.1, 1.0]
ret.longitudinalKiV = [0.5, 0.24]
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0., 9., 35.]
#ret.gasMaxV = [0.2, 0.5, 0.7]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalKpBP = [0., 5., 55.]
ret.longitudinalKiBP = [0., 55.]
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 55.]
ret.longitudinalKiBP = [0., 55.]
# returns a car.CarState
return ret
def update(self, c):
# ******************* do can recv *******************
canMonoTimes = []
self.cp.update(int(sec_since_boot() * 1e9), False)
self.cp_cam.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.cp, self.cp_cam)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.car_gas
if self.CP.enableGasInterceptor:
# use interceptor values to disengage on pedal press
ret.gasPressed = self.CS.pedal_gas > 15
else:
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed != 0
ret.brakeLights = self.CS.brake_lights
# steering wheel
ret.steeringAngle = self.CS.angle_steers + steeringAngleoffset
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_active
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [
CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_2019
] or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
# also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
ret.leftBlinker = bool(self.CS.left_blinker_on)
ret.rightBlinker = bool(self.CS.right_blinker_on)
#ret.leftline = self.CS.left_line
#ret.rightline = self.CS.right_line
#ret.lkasbarriers = self.CS.lkas_barriers
ret.blindspot = self.CS.blind_spot_on
ret.blindspotside = self.CS.blind_spot_side
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
ret.genericToggle = self.CS.generic_toggle
ret.laneDepartureToggle = self.CS.lane_departure_toggle_on
ret.distanceToggle = self.CS.distance_toggle
ret.accSlowToggle = self.CS.acc_slow_on
ret.readdistancelines = self.CS.read_distance_lines
ret.gasbuttonstatus = self.CS.gasMode
if self.CS.sport_on == 1:
ret.gasbuttonstatus = 1
if self.CS.econ_on == 1:
ret.gasbuttonstatus = 2
# events
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(
create_event('commIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if self.CS.cam_can_valid:
self.cam_can_valid_count += 1
if self.cam_can_valid_count >= 5:
self.forwarding_camera = True
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
disengage_event = True
else:
disengage_event = False
if not ret.gearShifter == 'drive' and self.CP.enableDsu:
events.append(
create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen and disengage_event:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.seatbeltUnlatched and disengage_event:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled and self.CP.enableDsu:
events.append(
create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on and self.CP.enableDsu:
events.append(
create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse' and self.CP.enableDsu:
events.append(
create_event('reverseGear',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.steer_error:
events.append(
create_event('steerTempUnavailable',
[ET.NO_ENTRY, ET.WARNING]))
if self.CS.low_speed_lockout and self.CP.enableDsu:
events.append(
create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
if self.CS.steer_unavailable:
events.append(
create_event('steerTempUnavailableNoCancel', [ET.WARNING]))
if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if c.actuators.gas > 0.1:
# some margin on the actuator to not false trigger cancellation while stopping
events.append(
create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on pedals rising edge or when brake is pressed and speed isn't zero
if (ret.gasPressed and not self.gas_pressed_prev) or \
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
events.append(
create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
ret.canMonoTimes = canMonoTimes
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
return ret.as_reader()
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel,
c.hudControl.visualAlert, c.hudControl.audibleAlert,
self.forwarding_camera, c.hudControl.leftLaneVisible,
c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
c.hudControl.leftLaneDepart,
c.hudControl.rightLaneDepart)
self.frame += 1
return False
