def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "ford"
ret.safetyModel = car.CarParams.SafetyModel.ford
ret.dashcamOnly = True
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[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.lateralTuning.pid.kdBP = [0., 18., 27., 35.] # derivative disabled for now
ret.lateralTuning.pid.kdV = [0., 0., 0., 0.]
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.8
ret.steerRateCost = 1.0
ret.centerToFront = ret.wheelbase * 0.44
tire_stiffness_factor = 0.5328
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "mazda"
ret.safetyModel = car.CarParams.SafetyModel.mazda
ret.lateralTuning.init('pid')
ret.dashcamOnly = True
ret.radarOffCan = True
# Mazda port is a community feature for now
ret.communityFeature = True
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
if candidate in [CAR.CX5]:
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.2]]
ret.lateralTuning.pid.kf = 0.00006
# No steer below disable speed
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
# dp
ret = common_interface_get_params_lqr(ret)
ret.centerToFront = ret.wheelbase * 0.41
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
return ret
def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
if fingerprint is None:
fingerprint = gen_empty_fingerprint()
if car_fw is None:
car_fw = []
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "chrysler"
ret.safetyModel = car.CarParams.SafetyModel.chrysler
# Chrysler port is a community feature, since we don't own one to test
ret.communityFeature = True
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.],
[9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30],
[0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.lateralTuning.pid.kdBP = [0., 18., 27.,
35.] # derivative disabled for now
ret.lateralTuning.pid.kdV = [0., 0., 0., 0.]
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020,
CAR.JEEP_CHEROKEE_2019):
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "chrysler"
ret.safetyModel = car.CarParams.SafetyModel.chrysler
# Speed conversion: 20, 45 mph
ret.wheelbase = 2.743 # in meters for Chrysler 200 2016
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 1721. + STD_CARGO_KG # kg curb weight Chrysler 200 2016
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4], [0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
# if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
# ret.wheelbase = 2.91 # in meters
# ret.steerRatio = 12.7
# ret.steerActuatorDelay = 0.2 # in seconds
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 15.65 # m/s
# if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
# ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# starting with reasonable value for civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
vin="",
has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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_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
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
ECU.CAM) or has_relay
ret.enableDsu = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
ECU.DSU) or (has_relay and candidate 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
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
ret.steerLimitAlert = False
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "toyota"
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
if candidate not in [CAR.PRIUS, CAR.RAV4,
CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.HIGHLANDER_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate == CAR.LEXUS_NXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.dsu) and candidate not in TSS2_CAR
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = ret.enableCamera and (
smartDsu or ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kfBP = [0.]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_2019:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kfV = [0.00006]
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kfV = [0.00006]
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kfV = [0.00006]
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.lateralTuning.pid.kfV = [0.00006]
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 31 * CV.MPH_TO_MS
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kfV = [0.00005]
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
[0.], [0.], [0.]
]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [
CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV
]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.sccBus = -1
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "honda"
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
rdr_bus = 0 if has_relay else 2
ret.enableCamera = is_ecu_disconnected(
fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
ret.enableCamera = is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 8000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560
], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1],
[0.33]]
tire_stiffness_factor = 1.
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.8467
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 3840], [0, 3840]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 2560, 10000
], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
[0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
0, 3840
], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.64
], [0.192]]
tire_stiffness_factor = 0.677
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.06]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.HRV:
stop_and_go = False
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
[0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.025]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 1000], [0, 1000]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840],
[0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
tire_stiffness_factor = 0.677
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 32767], [0, 32767]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
[0, 4096], [0, 4096]
] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [
0.
] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.stoppingControl = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Hyundai port is a community feature for now
ret.communityFeature = True
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kd = 0.
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate in [CAR.SONATA, CAR.SONATA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.steerActuatorDelay = 0.08 # Stinger Limited AWD 3.3T stock value (Tunder's 2020)
ret.steerLimitTimer = 0.01 # no timer on value changes, lightning fast up or down (Tunder's 2020)
tire_stiffness_factor = 0.7 # LiveParameters (Tunder's 2020)
ret.steerRateCost = 0.25 # i don't know what this actually does, but the car drives much better this way than at 1.0. (Tunder)
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
ret.steerRatio = 10.28 # measured by wheel alignment machine/reported steering angle by OP, still being worked on. 2020 GT Limited AWD has a variable steering ratio ultimately ending in 10.28. The ratio at 0-1 deg is unknown, but likely higher than 10.28 to soften steering movements at midline (Tunder)
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [
[0.13], [0.05]
] # any higher p value and it oscillates forever. much lower and it doesn't turn enough (lazy)
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_NIRO_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ_EV_LTD:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_CEED:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_SPORTAGE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.GRANDEUR:
tire_stiffness_factor = 0.6
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 2000.0
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.003
ret.steerRatio = 13.7
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
elif candidate == CAR.K7_HYBRID:
tire_stiffness_factor = 0.9
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 13.7
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.6
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 2000.0
ret.lateralTuning.lqr.ki = 0.03
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.003
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = ret.sccBus == -1
ret.openpilotLongitudinalControl = bool(ret.sccBus
and not ret.radarOffCan)
ret.autoLcaEnabled = True
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 0.
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ_EV_LTD:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "gm"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.enableCruise = False
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.BOLT:
# initial engage unkown - copied from Volt. Stop and go unknown.
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1616. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.60096
ret.steerRatio = 16.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# same tuning for Volt and CT6 for now
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.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.steerLimitAlert = True
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA]
ret.steerActuatorDelay = 0.4 # Default delay
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
ret.longitudinalTuning.kfBP = [0., 5.]
ret.longitudinalTuning.kfV = [1., 1.]
ret.lateralTuning.pid.kiBP = [0., 1., 20.]
ret.lateralTuning.pid.kpV = [0.01, 0.03, 0.03]
ret.lateralTuning.pid.kpBP = [0., 10., 30.]
ret.lateralTuning.pid.kiV = [0.001, 0.003, 0.003]
ret.lateralTuning.pid.kfBP = [0., 10., 30.]
ret.lateralTuning.pid.kfV = [0.00002, 0.00003, 0.00003]
if candidate == CAR.SANTA_FE:
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
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
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
elif candidate == CAR.SONATA_2019:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP = [0., 1., 20.]
ret.lateralTuning.pid.kpV = [0.01, 0.04, 0.05]
elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
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.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.45
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.minSteerSpeed = 55 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.0
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.5
ret.steerActuatorDelay = 0.08
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.125
ret.steerRateCost = 1.0
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G80:
ret.steerActuatorDelay = 0.4
ret.steerRateCost = 0.45
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
elif candidate == CAR.KIA_STINGER:
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 # Spec
tire_stiffness_factor = 0.385
elif candidate in [CAR.IONIQ_HEV, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15 #Spec
tire_stiffness_factor = 0.385
elif candidate == CAR.KIA_FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
elif candidate == CAR.KIA_CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
elif candidate == CAR.KIA_SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate == CAR.VELOSTER:
ret.mass = 2960. * CV.LB_TO_KG
ret.wheelbase = 2.69
ret.steerRatio = 13.75 * 1.15
elif candidate in [CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_EV]:
ret.steerRatio = 13.73
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1719. + STD_CARGO_KG
ret.wheelbase = 2.8
ret.steerRatio = 12.5
elif candidate in [CAR.KIA_CADENZA, CAR.KIA_CADENZA_HEV]:
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.85
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_HEV, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.SONATA_HEV, CAR.SANTA_FE, CAR.GENESIS_G90]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.autoLcaEnabled = True
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
op_params = opParams()
use_lqr = op_params.get('use_lqr')
prius_use_pid = False # op_params.get('prius_use_pid')
corollaTSS2_use_indi = False # op_params.get('corollaTSS2_use_indi')
rav4TSS2_use_indi = op_params.get('rav4TSS2_use_indi')
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "toyota"
ret.safetyModel = car.CarParams.SafetyModel.allOutput
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.hasZss = 0x23 in fingerprint[
0] # Detect whether car has accurate ZSS
ret.steerRateCost = 0.5 if ret.hasZss else 1.0
# Improved longitudinal tune
if candidate in [
CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2,
CAR.RAV4H_TSS2
]:
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.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
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]
CARS_NOT_PID = [CAR.RAV4, CAR.RAV4H]
if not prius_use_pid:
CARS_NOT_PID.append(CAR.PRIUS)
if candidate not in CARS_NOT_PID and not use_lqr: # 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 = 54 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 13.4 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.steerActuatorDelay = 0.3
if prius_use_pid:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.07],
[0.04]]
ret.lateralTuning.pid.kdV = [0.]
ret.lateralTuning.pid.kf = 0.00009531750004645412
ret.lateralTuning.pid.newKfTuned = True
else:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainV = [4.0]
ret.lateralTuning.indi.outerLoopGainV = [3.0]
ret.lateralTuning.indi.timeConstantV = [
0.1
] if ret.hasZss else [1.0]
ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
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 = 88
ret.wheelbase = 2.70
ret.steerRatio = 17.43
ret.minSpeedCan = 0.1 * CV.KPH_TO_MS
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.kpBP, ret.lateralTuning.pid.kpV = [[
20, 31
], [0.05, 0.12]] # 45 to 70 mph
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[20, 31],
[
0.001,
0.01
]]
ret.lateralTuning.pid.kdBP, ret.lateralTuning.pid.kdV = [[20, 31],
[
0.0,
0.0
]]
# ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
ret.lateralTuning.pid.kf = 0.000055 # full torque for 20 deg at 80mph means 0.00007818594
ret.lateralTuning.pid.newKfTuned = True
elif candidate == CAR.OLD_CAR:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.830 # This is updated for BMW
ret.steerRatio = 17.9 # This is updated for BMW
tire_stiffness_factor = 0.444
ret.mass = 2000 # This is updated for BMW
ret.longitudinalTuning.kpBP = [0., 15., 22.]
ret.longitudinalTuning.kiBP = [0., 15., 22.]
ret.gasMaxBP = [0., 5., 12., 25.]
ret.gasMaxV = [0.5, 0.6, 0.8, 1.0]
#+ ret.gasMaxV = [0.1, 0.4, 0.8]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.enableGasInterceptor = True #OLD_CAR USES ALWAYS INTERCEPTOR MESSAGE FOR GAS
if ret.enableGasInterceptor:
ret.longitudinalTuning.kpV = [0.4, 0.6, 0.7]
ret.longitudinalTuning.kiV = [0.2, 0.35, 0.5]
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.07
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.LEXUS_RX:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RX_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 14.8
tire_stiffness_factor = 0.5533 # not optimized yet
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_RXH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16.0 # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [
CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2
]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 56
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.lateralTuning.pid.kdV = [0.1]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
if rav4TSS2_use_indi: # Rav4 2020 TSS2 Tune, needs to be verified, based on cgwtuning
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
ret.lateralTuning.indi.innerLoopGainV = [15, 15]
ret.lateralTuning.indi.outerLoopGainBP = [
8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
]
ret.lateralTuning.indi.outerLoopGainV = [
4.7, 6.1, 8.35, 10.5, 12.8, 14.99, 16, 17, 18, 19
]
ret.lateralTuning.indi.timeConstantBP = [
8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
]
ret.lateralTuning.indi.timeConstantV = [
1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0
]
ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
ret.steerRateCost = 0.3
elif candidate == CAR.RAV4H_TSS2:
stop_and_go = True
ret.safetyParam = 56
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
[0.05]]
ret.lateralTuning.pid.kdV = [0.1]
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00004
for fw in car_fw:
if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.6
], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
break
if rav4TSS2_use_indi: # Rav4 2020 TSS2 Tune, based on cgwtuning, needs to be verified
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
ret.lateralTuning.indi.innerLoopGainV = [15, 15]
ret.lateralTuning.indi.outerLoopGainBP = [
8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
]
ret.lateralTuning.indi.outerLoopGainV = [
4.7, 6.1, 8.35, 10.5, 12.8, 14.99, 16, 17, 18, 19
]
ret.lateralTuning.indi.timeConstantBP = [
8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
]
ret.lateralTuning.indi.timeConstantV = [
1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0
]
ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
ret.steerRateCost = 0.3
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
stop_and_go = True
ret.safetyParam = 54
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 15.33
tire_stiffness_factor = 0.996 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
if corollaTSS2_use_indi: # birdman6450#7399's Corolla 2020 TSS2 Tune
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [18, 22, 26]
ret.lateralTuning.indi.innerLoopGainV = [9, 12, 15]
ret.lateralTuning.indi.outerLoopGainBP = [18, 22, 26]
ret.lateralTuning.indi.outerLoopGainV = [8, 11, 14.99]
ret.lateralTuning.indi.timeConstantBP = [18, 22, 26]
ret.lateralTuning.indi.timeConstantV = [1, 3, 4.5]
ret.lateralTuning.indi.actuatorEffectivenessBP = [18, 22, 26]
ret.lateralTuning.indi.actuatorEffectivenessV = [9, 12, 15]
ret.steerActuatorDelay = 0.42 - 0.2
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
# ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[.028], [.0012]] # birdman6450#7399's Corolla 2020 PIF Tune
# ret.lateralTuning.pid.kdV = [0.]
# ret.lateralTuning.pid.kf = 0.000153263811757641
# ret.lateralTuning.pid.newKfTuned = True
# ret.steerActuatorDelay = 0.48 - 0.2
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.LEXUS_ESH:
stop_and_go = True
ret.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.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 77
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007
elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRation from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35],
[0.15]]
ret.lateralTuning.pid.kf = 0.00007818594
if use_lqr:
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
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)
# old car has to enable camera simulation, since we don't have the TSS peripherals
ret.enableCamera = (candidate == CAR.OLD_CAR) or is_ecu_disconnected(
fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# TODO: use FW query for the enableDsu flag
# 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 NO_DSU_CAR
ret.enableGasInterceptor = (candidate
== CAR.OLD_CAR) or 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 = (candidate == CAR.OLD_CAR) or (
ret.enableCamera and
(smartDsu or ret.enableDsu or candidate in TSS2_CAR))
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 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
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = True
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.000050
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.2, 0.35
], [0.05, 0.09]]
elif candidate == CAR.SONATA:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3 #3.3 #3.8 2.2 1.62 was 3 was 4 outer and inner are gains. Higher values = more steering
ret.lateralTuning.indi.outerLoopGain = 2 #2.3#2.8was 2.3 # 3.0 2.8 was 3.0 - good. kinda twitchy 3.5 was 4.05 2.0 outer and inner are gains. Higher values = more steering
ret.lateralTuning.indi.timeConstant = 0.8 # 1 1.3 was 1.75 was 1.49 was 1.60 was 1.49, responded to bumps. was 1.0 timeconstant is smoothing. Higher values == more smoothing
ret.lateralTuning.indi.actuatorEffectiveness = 1 #was 0.7 0.9 was 1.2. 1.2 was 1.1 - almost good, tad too much power 1.45 1.62 was 1.5 how much it steers. Lower values == more steering
ret.steerActuatorDelay = 0.14 #was .16 # 0.2, tad too early steer .52 0.53 was 0.56 was 0.52 was 0.6 - 0.08 on tunder
ret.steerLimitTimer = 0.4 #best working so far in the entire group was 0.4 stock is 0.01, 0.4 works well, trying 0.2, 0.1 for quicker turn in. 0.1 is strong on highway, notchy in town
#ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1516. + STD_CARGO_KG #was 1513
ret.wheelbase = 2.84
ret.steerRatio = 15.4192 # was 13.27 * 1.15. this comes from live params
tire_stiffness_factor = 1.00 # was 0.65 this comes from live params
#ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
#ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_2019:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4498. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 01986. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G80:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [
CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV
]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "hyundai"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc
ret.minSteerSpeed = 0 # 5 km/h
ret.steerActuatorDelay = 0.10 # Default delay 0.15
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.7
#ret.radarOffCan = False
"""
0.7.5
ret.steerActuatorDelay = 0.1 # Default delay 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1
"""
"""
0.7.3
ret.steerActuatorDelay = 0.10 # Default delay 0.15
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.7
"""
if candidate == CAR.SANTAFE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.steerRatio = 13.8 # 13.8 is spec end-to-end
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.K5_HEV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.steerRatio = 12.0 #12.5
ret.steerRateCost = 0.4 #0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 32.4 KPH ~ 79.2 KPH
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.25 #Spec
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.NEXO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.steerRatio = 12.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.MOHAVE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.steerRatio = 14.1
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.I30:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
elif candidate == CAR.AVANTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.5 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
9., 22.
], [9., 22.]] # 9m/s = 32.4km/h ~ 22m/s = 79.2 km/h
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.1, 0.11
], [0.02, 0.05]]
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.autoLcaEnabled = 0
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
vin="",
has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "subaru"
ret.radarOffCan = True
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableCruise = True
ret.steerLimitAlert = True
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
ECU.CAM) or has_relay
ret.steerRateCost = 0.7
if candidate in [CAR.IMPREZA]:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3],
[
0.02,
0.03
]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerRatioRear = 0.
# testing tuning
# No long control in subaru
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# end from gm
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if candidate in [CAR.SONATA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
elif candidate == CAR.SONATA_2019:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G80:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
elif candidate == CAR.KIA_STINGER:
tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
ret.steerRateCost = 1.0
ret.mass = 1825.0 + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
ret.steerRatio = 13.56
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate == CAR.KIA_FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
elif candidate == CAR.KIA_CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.KIA_SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.minSteerSpeed = 0.
elif candidate in [CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_EV]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.KIA_CARDENZA, CAR.KIA_CARDENZA_HEV]:
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.85
elif candidate in [CAR.SONATA, CAR.SONATA_H]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
tire_stiffness_factor = 0.65
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
tire_stiffness_factor = 0.6
# LQR control by default
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1700.0
ret.lateralTuning.lqr.ki = 0.03
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-105.0, 450.0]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.003
ret.steerRatio = 15.2
ret.steerActuatorDelay = 0.4
ret.steerRateCost = 0.55
ret.steerLimitTimer = 1.3
ret.steerMaxBP = [30. * CV.KPH_TO_MS, 50. * CV.KPH_TO_MS]
ret.steerMaxV = [1., 1.5]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 10., 40.]
ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2]
ret.longitudinalTuning.kiBP = [0., 10., 30., 40.]
ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
# steer, gas, brake limitations VS speed
ret.gasMaxBP = [0., 10., 40.]
ret.gasMaxV = [0.5, 0.5, 0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = ret.sccBus == -1
ret.openpilotLongitudinalControl = False # TODO make ui toggle
ret.enableCruise = not ret.radarOffCan
ret.autoLcaEnabled = True
ret.spasEnabled = False
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Hyundai port is a community feature for now
ret.communityFeature = False
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
if candidate in [CAR.SANTAFE, CAR.SANTAFE_1]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.steerRatio = 13.8 # 13.8 is spec end-to-end
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.AVANTE, CAR.I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.K5_HYBRID, CAR.SONATA_HYBRID]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.45
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.22],
[0.04]]
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.GRANDEUR_HYBRID, CAR.K7_HYBRID]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.20
], [0.03]] # [[0.25], [0.05]]
elif candidate == CAR.STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.NIRO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.25 #Spec
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.K3:
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.NEXO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.steerRatio = 12.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 13.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = ret.sccBus == -1
ret.openpilotLongitudinalControl = bool(ret.sccBus
and not ret.radarOffCan)
ret.autoLcaEnabled = True
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
params = Params()
if int(params.get('LateralControlPriority')) == 0:
ret.radarOffCan = False
else:
ret.radarOffCan = True
PidKp = int(params.get('PidKp')) * 0.01
PidKi = int(params.get('PidKi')) * 0.001
PidKf = int(params.get('PidKf')) * 0.00001
OuterLoopGain = int(params.get('OuterLoopGain')) * 0.1
InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1
TimeConstant = int(params.get('TimeConstant')) * 0.1
ActuatorEffectiveness = int(params.get('ActuatorEffectiveness')) * 0.1
Scale = int(params.get('Scale')) * 1.0
LqrKi = int(params.get('LqrKi')) * 0.001
DcGain = int(params.get('DcGain')) * 0.000001
# Most Hyundai car ports are community features for now
ret.communityFeature = False
tire_stiffness_factor = int(params.get('TireStiffnessFactorAdj')) * 0.01
ret.steerActuatorDelay = int(params.get('SteerActuatorDelayAdj')) * 0.001
ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.001
ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.1
ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1
if int(params.get('LateralControlMethod')) == 0:
if candidate == CAR.SANTAFE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SORENTO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
#g90값 입력 종료
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.STINGER:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.NEXO:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.MOHAVE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.I30:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.AVANTE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.SELTOS:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = PidKf
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]]
elif int(params.get('LateralControlMethod')) == 1:
if candidate == CAR.SANTAFE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
elif candidate == CAR.SORENTO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.GENESIS:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
#g90 값 입력 종료
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate == CAR.STINGER:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.KONA:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate == CAR.NEXO:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.MOHAVE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
elif candidate == CAR.I30:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.AVANTE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.SELTOS:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.PALISADE:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
elif int(params.get('LateralControlMethod')) == 2:
if candidate == CAR.SANTAFE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
elif candidate == CAR.SORENTO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.GENESIS:
ret.mass = 1980. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 15.0
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0.55
ret.steerLimitTimer = 2.5
#lqr 조향 시작
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1950.0
ret.lateralTuning.lqr.ki = 0.005
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = 0.00288
#lqr 조향 종료
#g90 값 입력
elif candidate == CAR.GENESIS_G90:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1680 #Scale
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002858 #0.002237852961363602
ret.mass = 2290. + STD_CARGO_KG
ret.wheelbase = 3.45
ret.steerLimitTimer = 2.5 #int(params.get('SteerLimitTimerAdj')) * 0.1
ret.steerRatio = 13.0 #int(params.get('SteerRatioAdj')) * 0.1
ret.steerActuatorDelay = 0.2 #int(params.get('SteerActuatorDelayAdj')) * 0.001
ret.steerRateCost = 0.55 #int(params.get('SteerRateCostAdj')) * 0.001
#g90 값 입력
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
elif candidate == CAR.STINGER:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate == CAR.KONA:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.KONA_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate == CAR.NEXO:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.MOHAVE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
elif candidate == CAR.I30:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.AVANTE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.SELTOS:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.PALISADE:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-100., 450.]
ret.lateralTuning.lqr.l = [0.22, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.GENESIS, CAR.IONIQ_EV, CAR.IONIQ_HEV, CAR.KONA_EV]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # MDPS12
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # SAS11
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] else 2 if 1056 in fingerprint[2] else -1 # SCC11
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBosch
rdr_bus = 0 if has_relay else 2
ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModel.honda
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00000 # conservative feed-forward
ret.steerRateCost = 0.35
if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 10.9 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
ret.steerRateCost = 0.1
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
tire_stiffness_factor = 0.8467
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV:
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 10.25
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.20], [0.04]]
# BP values are speeds - 0 m/s, 10 m/s, 35 m/s
# which is 0 MPH, 22 MPH, and 78 MPH
ret.longitudinalTuning.kpBP = [0., 10., 35.]
# These are corresponding Kp values with the above speeds
ret.longitudinalTuning.kpV = [0.6, 0.4, 0.3]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15 # 12.58 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.PILOT, CAR.PILOT_2018, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428 # average weight distribution
ret.steerRatio = 12.5 # Tuned value for 0.6.4 to eliminate wobble
tire_stiffness_factor = 0.62 # LiveParameters Value
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.21]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 12.5 # as spec
tire_stiffness_factor = 0.62 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.21]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
ret.lateralTuning.pid.kf = 0.00006
else:
raise ValueError("unsupported car %s" % candidate)
ret.steerControlType = car.CarParams.SteerControlType.torque
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
# prevent lurching when resuming
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 3, 8, 35]
ret.gasMaxV = [0.2, 0.3, 0.5, 0.6]
else:
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.] # max gas allowed
#ret.gasMaxBP = [0.] # m/s
#ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "chrysler"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.chrysler
# pedal
ret.enableCruise = True
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15,0.30], [0.03,0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 3.8 # m/s
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
# 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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
ret.openpilotLongitudinalControl = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.openpilotLongitudinalControl = Params().get_bool(
'LongControlEnabled')
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if candidate in [CAR.SONATA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 90.
ret.startAccel = 1.0
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
# genesis
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
elif candidate == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
# hyundai
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
if eps_modified:
ret.maxSteeringAngleDeg = 1000.
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1395. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate in [CAR.GRANDEUR_IG, CAR.GRANDEUR_IG_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.maxSteeringAngleDeg = 120.
elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
ret.maxSteeringAngleDeg = 120.
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.9
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.7
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
elif candidate == CAR.STINGER:
tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
ret.mass = 1825.0 + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.7
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.6
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.7
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.7
ret.mass = 1650. + STD_CARGO_KG
ret.wheelbase = 2.855
elif candidate == CAR.SELTOS:
ret.mass = 1310. + STD_CARGO_KG
ret.wheelbase = 2.6
tire_stiffness_factor = 0.7
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGainBP = [0.]
ret.lateralTuning.indi.innerLoopGainV = [3.3]
ret.lateralTuning.indi.outerLoopGainBP = [0.]
ret.lateralTuning.indi.outerLoopGainV = [2.6]
ret.lateralTuning.indi.timeConstantBP = [0.]
ret.lateralTuning.indi.timeConstantV = [1.4]
ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
ret.lateralTuning.indi.actuatorEffectivenessV = [2.]
ret.steerRatio = 16.5
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 2.5
ret.minSteerSpeed = 0
ret.steerRateCost = 0.4
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.5]
if ret.openpilotLongitudinalControl:
ret.longitudinalTuning.kpBP = [
0., 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS, 40. * CV.KPH_TO_MS,
70. * CV.KPH_TO_MS, 100. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [0.95, 0.75, 0.6, 0.5, 0.43, 0.38]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.015]
ret.longitudinalTuning.kf = 0.5
ret.longitudinalTuning.deadzoneBP = [0., 100. * CV.KPH_TO_MS]
ret.longitudinalTuning.deadzoneV = [0., 0.015]
ret.gasMaxBP = [
0., 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS, 70. * CV.KPH_TO_MS,
130. * CV.KPH_TO_MS
]
ret.gasMaxV = [0.4, 0.28, 0.2, 0.14, 0.11]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.3]
ret.stoppingBrakeRate = 0.15 # brake_travel/s while trying to stop
ret.startingBrakeRate = 0.6 # brake_travel/s while releasing on restart
ret.startAccel = 1.5
else:
# scc smoother
ret.longitudinalTuning.kpBP = [
0., 10. * CV.KPH_TO_MS, 40. * CV.KPH_TO_MS, 100. * CV.KPH_TO_MS
]
ret.longitudinalTuning.kpV = [1.3, 1.2, 1.0, 0.45]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.radarTimeStep = 0.05
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
print("!!!!! BUS", "MDPS", ret.mdpsBus, "SAS", ret.sasBus, "SCC",
ret.sccBus)
ret.radarOffCan = ret.sccBus == -1
ret.enableCruise = not ret.radarOffCan
# set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or Params(
).get_bool('MadModeEnabled'):
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "hyundai"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc
ret.steerActuatorDelay = 0.15 # Default delay
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.7
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.minSteerSpeed = 0.
#ret.minSteerSpeed = 60 * CV.KPH_TO_MS
if candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
ret.mass = 2200. + STD_CARGO_KG
ret.wheelbase = 3.15
ret.steerRatio = 12.069
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73
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.SONATA, CAR.SONATA_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1640. + STD_CARGO_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 in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1719. + STD_CARGO_KG
ret.wheelbase = 2.8
ret.steerRatio = 14.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1870. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate == CAR.IONIQ:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73
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.KIA_OPTIMA, CAR.KIA_OPTIMA_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1525. + STD_CARGO_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 in [CAR.KIA_CARDENZA, CAR.KIA_CARDENZA_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.85
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_FORTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1613. + STD_CARGO_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_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_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_SELTOS:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1444. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.73 * 1.1
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_SOUL_EV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1682. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.73
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_SPORTAGE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1626. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.autoLcaEnabled = 1
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.3 # Default delay not used, check pathplanner for BPs
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.1
tire_stiffness_factor = 0.7
#Long tuning Params - make individual params for cars, baseline Hyundai genesis
ret.longitudinalTuning.kpBP = [0., 1., 10., 35.]
ret.longitudinalTuning.kpV = [0.12, 1.3, .85, .65]
ret.longitudinalTuning.kiBP = [0., 15., 35.]
ret.longitudinalTuning.kiV = [.35, .25, .15]
ret.longitudinalTuning.deadzoneBP = [0., .5]
ret.longitudinalTuning.deadzoneV = [0.00, 0.00]
ret.gasMaxBP = [0., 1., 1.1, 15., 40.]
ret.gasMaxV = [2., 2., 2., 1.68, 1.3]
ret.brakeMaxBP = [0., 5., 5.1]
ret.brakeMaxV = [3.5, 3.5, 3.5] # safety limits to stop unintended deceleration
ret.lateralTuning.pid.kpBP = [0., 10., 30.]
ret.lateralTuning.pid.kpV = [0.01, 0.02, 0.03]
ret.lateralTuning.pid.kiBP = [0., 10., 30.]
ret.lateralTuning.pid.kiV = [0.001, 0.0015, 0.002]
ret.lateralTuning.pid.kf = 0.00005
if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2017]:
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
ret.steerRatio = 16.55
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15
elif candidate in [CAR.SONATA_2019, CAR.SONATA_HEV_2019]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2020:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.minSteerSpeed = 55 * CV.KPH_TO_MS
elif candidate == CAR.GENESIS_G70:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.0
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.5
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G80:
ret.steerActuatorDelay = 0.4
ret.steerRateCost = 0.45
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_STINGER:
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate in [CAR.IONIQ_HEV, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 * 1.15
elif candidate == CAR.KIA_FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75 * 1.15
elif candidate == CAR.KIA_SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
elif candidate == CAR.VELOSTER:
ret.mass = 2960. * CV.LB_TO_KG
ret.wheelbase = 2.69
ret.steerRatio = 13.75 * 1.15
elif candidate in [CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_EV]:
ret.steerRatio = 13.73
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1719. + STD_CARGO_KG
ret.wheelbase = 2.8
ret.steerRatio = 12.5* 1.15
elif candidate in [CAR.KIA_CADENZA, CAR.KIA_CADENZA_HEV]:
ret.mass = 1575. + STD_CARGO_KG
ret.wheelbase = 2.85
ret.steerRatio = 12.5 * 1.15
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.mdpsHarness = True
ret.sasBus = 0 if (688 in fingerprint[0] or not ret.mdpsHarness) else 1
ret.fcaBus = 0 if 909 in fingerprint[0] else 2 if 909 in fingerprint[2] else -1
ret.bsmAvailable = True if 1419 in fingerprint[0] else False
ret.lfaAvailable = True if 1157 in fingerprint[2] else False
ret.lvrAvailable = True if 871 in fingerprint[0] else False
ret.evgearAvailable = True if 882 in fingerprint[0] else False
ret.emsAvailable = True if 608 and 809 in fingerprint[0] else False
if True:
ret.sccBus = 2 if 1057 in fingerprint[2] and False else 0 if 1057 in fingerprint[0] else -1
else:
ret.sccBus = -1
ret.radarOffCan = (ret.sccBus == -1)
#ret.radarTimeStep = 0.1
ret.openpilotLongitudinalControl = True and not (ret.sccBus == 0)
if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_HEV, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.SONATA_HEV, CAR.SANTA_FE, CAR.GENESIS_G80,
CAR.GENESIS_G90]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if ret.mdpsHarness or \
(candidate in [CAR.KIA_OPTIMA_HEV, CAR.SONATA_HEV, CAR.IONIQ_HEV, CAR.SONATA_HEV_2019,
CAR.KIA_CADENZA_HEV, CAR.GRANDEUR_HEV, CAR.KIA_NIRO_HEV, CAR.KONA_HEV]):
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
if ret.radarOffCan or (ret.sccBus == 2) or True:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunityNonscc
if ret.mdpsHarness:
ret.minSteerSpeed = 0.
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) \
or has_relay
ret.radarDisablePossible = True
ret.enableCruise = False and ret.sccBus == 0
if ret.radarDisablePossible:
ret.openpilotLongitudinalControl = True
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunityNonscc # todo based on toggle
ret.sccBus = -1
ret.enableCruise = False
ret.radarOffCan = True
if ret.fcaBus == 0:
ret.fcaBus = -1
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
global ATOMC
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.radarOffCan = False #False(선행차우선) #True(차선우선) #선행차량 인식 마크 유무.
ret.radarOffCan = bool(params.get('OpkrTraceSet') != b'1')
ret.lateralsRatom.learnerParams = int(params.get('OpkrEnableLearner'))
# Hyundai port is a community feature for now
ret.communityFeature = False #True
ret.longcontrolEnabled = False
"""
0.7.5
ret.steerActuatorDelay = 0.1 # Default delay 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1
"""
"""
0.7.3
ret.steerActuatorDelay = 0.10 # Default delay 0.15
ret.steerRateCost = 0.45
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.7
"""
tire_stiffness_factor = 1.
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
if candidate == CAR.SANTAFE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1830. + STD_CARGO_KG
ret.wheelbase = 2.765
# Values from optimizer
ret.steerRatio = 13.8 # 13.8 is spec end-to-end
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1950. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
[0.01]]
elif candidate in [CAR.K5, CAR.SONATA]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SONATA_TURBO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1565. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1595. + STD_CARGO_KG
ret.wheelbase = 2.80
ret.steerRatio = 12.75
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.GRANDEUR, CAR.K7]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1570. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1675. + STD_CARGO_KG
ret.wheelbase = 2.885
ret.steerRatio = 12.5
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.KONA_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1330. + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.5 #Spec
ret.steerRateCost = 0.4
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.NIRO_HEV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.NIRO_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1425. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ_HEV:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.IONIQ_EV:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.25 #Spec
ret.steerRateCost = 0.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.NEXO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
ret.steerRatio = 12.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.MOHAVE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2250. + STD_CARGO_KG
ret.wheelbase = 2.895
ret.steerRatio = 14.1
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.I30:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1380. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.AVANTE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.5 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.SELTOS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1470. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 13.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
elif candidate == CAR.PALISADE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1955. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 13.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
[0.05]]
# 3번 atom param.
ret.lateralPIDatom.sRKPHV = [9., 17.] # 속도. 32~61
ret.lateralPIDatom.sRkBPV = ATOMC.sR_BPV # 조향각.
ret.lateralPIDatom.sRBoostV = ATOMC.sR_BoostV
ret.lateralPIDatom.sRkpV1 = ATOMC.sR_kpV1
ret.lateralPIDatom.sRkiV1 = ATOMC.sR_kiV1
ret.lateralPIDatom.sRkdV1 = ATOMC.sR_kdV1
ret.lateralPIDatom.sRkfV1 = ATOMC.sR_kfV1
ret.lateralPIDatom.sRkpV2 = ATOMC.sR_kpV2
ret.lateralPIDatom.sRkiV2 = ATOMC.sR_kiV2
ret.lateralPIDatom.sRkdV2 = ATOMC.sR_kdV2
ret.lateralPIDatom.sRkfV2 = ATOMC.sR_kfV2
ret.lateralCVatom.cvBPV = ATOMC.cvBPV
ret.lateralCVatom.cvSteerMaxV1 = ATOMC.cvSteerMaxV1
ret.lateralCVatom.cvSteerDeltaUpV1 = ATOMC.cvSteerDeltaUpV1
ret.lateralCVatom.cvSteerDeltaDnV1 = ATOMC.cvSteerDeltaDnV1
ret.lateralCVatom.cvSteerMaxV2 = ATOMC.cvSteerMaxV2
ret.lateralCVatom.cvSteerDeltaUpV2 = ATOMC.cvSteerDeltaUpV2
ret.lateralCVatom.cvSteerDeltaDnV2 = ATOMC.cvSteerDeltaDnV2
ret.lateralsRatom.deadzone = ATOMC.deadzone
ret.lateralsRatom.steerOffset = ATOMC.steerOffset
ret.lateralsRatom.tireStiffnessFactor = ATOMC.tire_stiffness_factor
ret.steerRatio = ATOMC.steerRatio #10.5 #12.5
ret.steerRateCost = ATOMC.steerRateCost #0.4 #0.4
ret.steerActuatorDelay = ATOMC.steerActuatorDelay
ret.steerLimitTimer = ATOMC.steerLimitTimer
tire_stiffness_factor = ATOMC.tire_stiffness_factor
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.openpilotLongitudinalControl = False
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
#if candidate in [CAR.SONATA]:
# ret.safetyModel = car.CarParams.SafetyModel.hyundai
params = Params()
PidKp = int(params.get('PidKp')) * 0.01
PidKi = int(params.get('PidKi')) * 0.001
PidKf = int(params.get('PidKf')) * 0.00001
InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1
OuterLoopGain = int(params.get('OuterLoopGain')) * 0.1
TimeConstant = int(params.get('TimeConstant')) * 0.1
ActuatorEffectiveness = int(params.get('ActuatorEffectiveness')) * 0.1
Scale = int(params.get('Scale')) * 1.0
LqrKi = int(params.get('LqrKi')) * 0.001
DcGain = int(params.get('DcGain')) * 0.0001
LqrSteerMaxV = int(params.get('SteerMaxvAdj')) * 0.1
# Most Hyundai car ports are community features for now
ret.communityFeature = False
tire_stiffness_factor = int(
params.get('TireStiffnessFactorAdj')) * 0.01
ret.steerActuatorDelay = int(
params.get('SteerActuatorDelayAdj')) * 0.01
ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.01
ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.01
ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
elif candidate == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
elif candidate == CAR.NEXO:
ret.mass = 1885. + STD_CARGO_KG
ret.wheelbase = 2.79
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.OPTIMA, CAR.OPTIMA_HEV]:
ret.wheelbase = 2.80
ret.mass = 1595. + STD_CARGO_KG
elif candidate == CAR.STINGER:
ret.mass = 1825.0 + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
elif candidate in [CAR.CADENZA, CAR.CADENZA_HEV]:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
if int(params.get('LateralControlMethod')) == 0:
ret.lateralTuning.pid.kf = PidKf
ret.lateralTuning.pid.kpBP = [0., 9.]
ret.lateralTuning.pid.kpV = [0.1, PidKp]
ret.lateralTuning.pid.kiBP = [0., 9.]
ret.lateralTuning.pid.kiV = [0.01, PidKi]
elif int(params.get('LateralControlMethod')) == 1:
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
ret.lateralTuning.indi.timeConstant = TimeConstant
ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
elif int(params.get('LateralControlMethod')) == 2:
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = Scale
ret.lateralTuning.lqr.ki = LqrKi
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110., 451.]
ret.lateralTuning.lqr.l = [0.33, 0.318]
ret.lateralTuning.lqr.dcGain = DcGain
ret.steerMaxV = [LqrSteerMaxV]
ret.steerMaxBP = [0.]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 10., 40.]
ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2]
ret.longitudinalTuning.kiBP = [0., 10., 30., 40.]
ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
# steer, gas, brake limitations VS speed
ret.gasMaxBP = [0., 10., 40.]
ret.gasMaxV = [0.5, 0.5, 0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = False
ret.openpilotLongitudinalControl = False
ret.enableCruise = not ret.radarOffCan
ret.spasEnabled = False
# set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or True:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
ret = car.CarParams.new_message()
ret.carName = "hyundai"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = has_relay
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
ret.minSteerSpeed = 0.
elif candidate == CAR.KIA_SORENTO:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
elif candidate == CAR.ELANTRA:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.73 #Spec
tire_stiffness_factor = 0.385
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
ret.minSteerSpeed = 35 * CV.MPH_TO_MS
elif candidate == CAR.KIA_OPTIMA:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [1.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.openpilotLongitudinalControl = False
ret.stoppingControl = False
ret.startAccel = 0.0
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "ford"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.ford
ret.dashcamOnly = True
# pedal
ret.enableCruise = True
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [
0.005
]] # TODO: tune this
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.8
ret.steerRateCost = 1.0
ret.centerToFront = ret.wheelbase * 0.44
tire_stiffness_factor = 0.5328
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1.
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.angle
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1.0] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
ECU.CAM) or has_relay
ret.openpilotLongitudinalControl = False
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "gm"
ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
ret.enableCruise = False # stock cruise control is kept off
# GM port is considered a community feature, since it disables AEB;
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496. + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.wheelbase = 2.83 #111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
return ret
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
has_relay)
ret.carName = "hyundai"
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
if candidate in [CAR.SONATA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundai
# Most Hyundai car ports are community features for now
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 1.
# genesis
if candidate == CAR.GENESIS:
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G70:
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.GENESIS_G80:
ret.mass = 1855. + STD_CARGO_KG
ret.wheelbase = 3.01
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
elif candidate == CAR.GENESIS_G90_L:
ret.mass = 2290
ret.wheelbase = 3.45
# hyundai
elif candidate in [CAR.SANTA_FE]:
ret.mass = 1694 + STD_CARGO_KG
ret.wheelbase = 2.766
elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
tire_stiffness_factor = 0.65
elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
elif candidate == CAR.SONATA_LF_TURBO:
ret.mass = 1590. + STD_CARGO_KG
ret.wheelbase = 2.805
tire_stiffness_factor = 0.65
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
elif candidate == CAR.KONA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
ret.mass = 1685. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
tire_stiffness_factor = 0.8
ret.mass = 1640. + STD_CARGO_KG
ret.wheelbase = 2.845
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.5
# kia
elif candidate == CAR.SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
tire_stiffness_factor = 0.5
elif candidate in [CAR.K5, CAR.K5_HEV]:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.5
elif candidate == CAR.STINGER:
tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
ret.mass = 1825.0 + STD_CARGO_KG
ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs
elif candidate == CAR.FORTE:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
tire_stiffness_factor = 0.5
elif candidate == CAR.CEED:
ret.mass = 1350. + STD_CARGO_KG
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5
elif candidate == CAR.SPORTAGE:
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]:
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
tire_stiffness_factor = 0.385
elif candidate in [CAR.K7, CAR.K7_HEV]:
tire_stiffness_factor = 0.385
ret.mass = 1705. + STD_CARGO_KG
ret.wheelbase = 2.855
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1900.0
ret.lateralTuning.lqr.ki = 0.01
ret.lateralTuning.lqr.dcGain = 0.003
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110., 451.]
ret.lateralTuning.lqr.l = [0.33, 0.318]
ret.steerRatio = 14.4
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
ret.steerRateCost = 0.5
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.1]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.longitudinalTuning.kpBP = [0., 10., 40.]
ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2]
ret.longitudinalTuning.kiBP = [0., 10., 30., 40.]
ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005]
ret.longitudinalTuning.deadzoneBP = [0., 40]
ret.longitudinalTuning.deadzoneV = [0., 0.02]
# steer, gas, brake limitations VS speed
ret.gasMaxBP = [0., 10., 40.]
ret.gasMaxV = [0.5, 0.5, 0.5]
ret.brakeMaxBP = [0., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
ECU_FINGERPRINT, candidate,
Ecu.fwdCamera) or has_relay
ret.stoppingControl = True
ret.startAccel = 0.0
# ignore CAN2 address if L-CAN on the same BUS
ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
1] else 0
ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
else 2 if 1056 in fingerprint[2] else -1
ret.radarOffCan = ret.sccBus == -1
ret.openpilotLongitudinalControl = Params().get(
'LongControlEnabled') == b'1'
ret.enableCruise = not ret.radarOffCan
ret.spasEnabled = False
# set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or Params(
).get('MadModeEnabled') == b'1':
ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
return ret
