def get_car(logcan, sendcan, is_panda_black=False):
cloudlog.warn("CarParams get_car is loading")
candidate = "MITSUBISHI MIEV"
vin = "xxxxxxxxxxxx"
car_params = CarInterface.get_params(None)
cloudlog.warn("CarParams is loading %s" % candidate)
return CarInterface(car_params, CarController), car_params
def can_init():
global handle, context
handle = None
cloudlog.info("attempting can init")
context = usb1.USBContext()
#context.setDebug(9)
for device in context.getDeviceList(skip_on_error=True):
if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc:
handle = device.open()
handle.claimInterface(0)
handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'')
if handle is None:
cloudlog.warn("CAN NOT FOUND")
exit(-1)
cloudlog.info("got handle")
cloudlog.info("can init done")
def get_params(candidate, fingerprint, vin=""):
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.carVin = vin
ret.safetyModel = car.CarParams.SafetyModel.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate != CAR.PRIUS:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73
ret.wheelbase = 2.65
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.18
], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.RAV4_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.COROLLA_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.LEXUS_ESH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.03
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.00007818594
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
ret.steerActuatorDelay = 0.25
elif candidate in [CAR.RAV4, CAR.RAV4H]:
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
stop_and_go = True
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
ret.steerKf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
ret.steerKf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKiBP = [0., 35.]
ret.stoppingControl = False
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiV = [0.18, 0.12]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiV = [0.54, 0.36]
return ret
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "ford"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.ford
# pedal
ret.enableCruise = True
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + std_cargo
ret.steerKpV, ret.steerKiV = [[0.01], [0.005]] # TODO: tune this
ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0
f = 1.2
tireStiffnessFront_civic *= f
tireStiffnessRear_civic *= f
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1.
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.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 = not any(
x for x in [970, 973, 984] if x in fingerprint)
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
ret.steerLimitAlert = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
return ret
def get_params(candidate, fingerprint, vin="", is_panda_black=False):
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = is_panda_black
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBosch
ret.enableCamera = True
ret.radarOffCan = True
ret.openpilotLongitudinalControl = not any(
x for x in BOSCH_RADAR_MSGS if x in fingerprint)
ret.enableCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyModel = car.CarParams.SafetyModel.honda
ret.enableCamera = not any(
x for x in CAMERA_MSGS if x in fingerprint) or is_panda_black
ret.enableGasInterceptor = 0x201 in fingerprint
ret.openpilotLongitudinalControl = ret.enableCamera
ret.enableCruise = not ret.enableGasInterceptor
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. Certain Hondas have an extra steering sensor at the bottom
# of the steering rack, which improves controls quality as it removes the steering column
# torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
if is_fw_modified:
ret.lateralTuning.pid.kf = 0.00004
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.4
], [0.12]] if is_fw_modified else [[0.8], [0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
tire_stiffness_factor = 0.8467
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
tire_stiffness_factor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV:
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
tire_stiffness_factor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
[0.18]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
[0.24]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90 # spec
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
ret.steerRatio = 14.35 # from CAR.ODYSSEY
tire_stiffness_factor = 0.82 # from CAR.ODYSSEY
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
[0.135]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428 # average weight distribution
ret.steerRatio = 17.25 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
[0.11]]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
ret.steerControlType = car.CarParams.SteerControlType.torque
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
ret.mass,
ret.wheelbase,
ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
ret.gasMaxBP = [0.] # m/s
# TODO: what is the correct way to handle this?
ret.gasMaxV = [
1.
] #if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
return ret
def get_params(candidate, fingerprint, vin="", is_panda_black=False):
ret = car.CarParams.new_message()
ret.carName = "ford"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = is_panda_black
ret.safetyModel = car.CarParams.SafetyModel.ford
# 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.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 = not any(
x for x in [970, 973, 984] if x in fingerprint) or is_panda_black
ret.openpilotLongitudinalControl = False
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
ret.steerLimitAlert = 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(), vin="", has_relay=False):
print("CarParams new message")
ret = car.CarParams.new_message()
print("CarParams setting fingerprint and safety")
ret.carName = "mitsubishi"
ret.carFingerprint = candidate
ret.carVin = vin
ret.isPandaBlack = False
ret.safetyModel = car.CarParams.SafetyModel.toyota
print("CarParams done settng safety model")
# # pedal
ret.enableCruise = True #not ret.enableGasInterceptor
print("CarParams setting car tuning")
ret.steerActuatorDelay = 0.1 # Default delay
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
print("CarParams set up PID")
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.55
ret.steerRatio = 17.
tire_stiffness_factor = 0.444
ret.mass = 1080. + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]]
ret.lateralTuning.pid.kf = 0.001388889 # 1 / max angle
print("CarParams done setting tuning")
ret.steerRateCost = 1.0
print("CarParams steerRateCost set") #% ret.steerRateCost
ret.centerToFront = ret.wheelbase * 0.44
print("CarParams centerToFront set") #% ret.centerToFront
ret.enableGasInterceptor = True
print("CarParams enableGasInterceptor set to True")
ret.minEnableSpeed = -1.
print("CarParams done setting ratecost and min enable speed")
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.angle
# 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 = True #not check_ecu_msgs(fingerprint, ECU.CAM) or is_panda_black
ret.enableDsu = True #not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = True #ret.enableCamera and ret.enableDsu
cloudlog.warn("CarParams ECU DSU Simulated: %r", ret.enableDsu)
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
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]
return ret
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "honda"
ret.carFingerprint = candidate
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModels.hondaBosch
ret.enableCamera = True
ret.radarOffCan = True
else:
ret.safetyModel = car.CarParams.SafetyModels.honda
ret.enableCamera = not any(
x for x in CAMERA_MSGS if x in fingerprint)
ret.enableGasInterceptor = 0x201 in fingerprint
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. Certain Hondas have an extra steering sensor at the bottom
# of the steering rack, which improves controls quality as it removes the steering column
# torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKf = 0.000078 # conservative feed-forward
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = mass_civic
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.steerRatio = 14.63 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
ret.steerKpV, ret.steerKiV = [[0.33], [0.10]
] if is_fw_modified else [[0.8],
[0.24]]
if is_fw_modified:
ret.steerKf = 0.00003
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
elif candidate == CAR.CIVIC_HATCH:
stop_and_go = True
ret.mass = 2916. * CV.LB_TO_KG + std_cargo
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.steerRatio = 14.63 # 10.93 is spec end-to-end
tire_stiffness_factor = 1.
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [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 and CRV 5G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.96 # 11.82 is spec end-to-end
tire_stiffness_factor = 0.8467
ret.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095 * CV.LB_TO_KG + std_cargo
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
# Acura at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['ff83f397542ab647']
ret.steerKpV, ret.steerKiV = [[0.45], [0.00]
] if is_fw_modified else [[0.8],
[0.24]]
if is_fw_modified:
ret.steerKf = 0.00003
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.CRV:
stop_and_go = False
ret.mass = 3572 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.3 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [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
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.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.8], [0.24]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.82
ret.steerKpV, ret.steerKiV = [[0.45], [0.135]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
stop_and_go = False
ret.mass = 4303 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 2.81
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # as spec
tire_stiffness_factor = 0.82
ret.steerKpV, ret.steerKiV = [[0.5], [0.22]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515 * CV.LB_TO_KG + std_cargo
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
tire_stiffness_factor = 0.444 # not optimized yet
ret.steerKpV, ret.steerKiV = [[0.38], [0.11]]
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
ret.steerControlType = car.CarParams.SteerControlType.torque
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [
0.
] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.35
return ret
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "oldcar"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = True
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.12 #0.16 # Default delay, Prius has larger delay
if candidate == CAR.COROLLA:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.CAMRYH:
ret.safetyParam = 100
ret.wheelbase = 2.77622
ret.steerRatio = 18.0 #14.8
tire_stiffness_factor = 0.7933
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.CAMRYH]:
ret.minEnableSpeed = -1.
elif candidate in [CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.angle
#Imported through tesla no max steer limit VS speed
ret.steerMaxBP = [0., 15.] # m/s
ret.steerMaxV = [420., 420.] # max steer allowed
# steer, gas, brake limitations VS speed
#ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
#ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
ret.steerLimitAlert = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
return ret
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
ret.steerLimitAlert = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
return ret
# returns a car.CarState
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "hyundai"
ret.carFingerprint = candidate
#remove #radar off can from base
ret.safetyModel = car.CarParams.SafetyModels.hyundai
#ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint)
ret.enableCamera = not any(x for x in CAMERA_MSGS_SOUL if x in fingerprint) #2018.09.02 johnwayneairobot change for KIA message
#ret.enableGasInterceptor = 0x201 in fingerprint
ret.enableGasInterceptor = 0x93 in fingerprint #2018.09.02 johnwayneairobot change for gas interceptor to throttle report
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.enableCruise = not ret.enableGasInterceptor
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. Certain Hondas have an extra steering sensor at the bottom
# of the steering rack, which improves controls quality as it removes the steering column
# torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
# # 2018.09.04
# full torque for 20 deg at 80mph means 0.00007818594 comment from hyundai
ret.steerKf = 0.00006 # conservative feed-forward
#2018.09.02 johnwayneairobot add Kia soul #TODO need to modified paramater
if candidate == CAR.SOUL:
stop_and_go = False
ret.safetyParam = 7 # define in /boardd/boardd.cc
ret.mass = 3410. * CV.LB_TO_KG + std_cargo
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.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # 2018.09.04 from hyundai
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.SOUL1:
stop_and_go = False
ret.safetyParam = 7 # define in /boardd/boardd.cc
ret.mass = 3410. * CV.LB_TO_KG + std_cargo
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.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # 2018.09.04 from hyundai
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
elif candidate == CAR.SOUL2:
stop_and_go = False
ret.safetyParam = 7 # define in /boardd/boardd.cc
ret.mass = 3410. * CV.LB_TO_KG + std_cargo
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.steerKpV, ret.steerKiV = [[0.6], [0.18]]
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # 2018.09.04 from hyundai
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [1.2, 0.8, 0.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.18, 0.12]
else:
raise ValueError("unsupported car %s" % candidate)
#TODO 2018.09.04 should modified our steering control type to match kia angle
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
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# TODO: 2018.09.02 need to scale this value for Kia soul and other car
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
#2018.09.02 Add separation for Kia soul and other below
if candidate == CAR.SOUL:
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed #Todo:2018.09.02 tune in car and change
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed #TODO: 2018.09.02 confirm in car
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
elif candidate == CAR.SOUL1:
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed #Todo:2018.09.02 tune in car and change
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed #TODO: 2018.09.02 confirm in car
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
elif candidate == CAR.SOUL2:
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed #Todo:2018.09.02 tune in car and change
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed #TODO: 2018.09.02 confirm in car
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
else:
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.stoppingControl = True
ret.steerLimitAlert = True
ret.startAccel = 0.5
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
return ret
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = True
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate == CAR.PRIUS: # experimenting with different values for 2018 prime
ret.safetyParam = 66 # was 66
ret.wheelbase = 2.70 # 2.70 verified correct for 2018 prime
ret.steerRatio = 13.4 # was 15.59, updated for prime per @larryjustin
tire_stiffness_factor = 0.7933
ret.mass = 3370 * CV.LB_TO_KG + std_cargo # was 3045, updated for prime per @larryjustin
ret.steerKpV, ret.steerKiV = [
[0.3], [0.06]
] # was 0.4, 0.01. For minor corrections, car was overshooting. Turn down K, bump I.
ret.steerKf = 0.00008 # was 0.00006; need more torque to keep car on the road.
# TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
# ret.steerActuatorDelay = 0.25 # was 0.25
elif candidate in [CAR.RAV4, CAR.RAV4H]:
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65
ret.steerRatio = 16.30 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.COROLLA:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.8
tire_stiffness_factor = 0.444
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_RXH:
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
ret.longPidDeadzoneBP = [0., 9.]
ret.longPidDeadzoneV = [0., .15]
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
if candidate in [CAR.PRIUS, CAR.RAV4H,
CAR.LEXUS_RXH]: # rav4 hybrid can do stop and go
ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4,
CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
ret.steerLimitAlert = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalKpBP = [0., 5., 35.]
ret.longitudinalKpV = [3.6, 2.4, 1.5]
ret.longitudinalKiBP = [0., 35.]
ret.longitudinalKiV = [0.54, 0.36]
return ret
def get_params(candidate, fingerprint):
# kg of standard extra cargo to count for drive, gas, etc...
std_cargo = 136
ret = car.CarParams.new_message()
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.toyota
# pedal
ret.enableCruise = not ret.enableGasInterceptor
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923 * CV.LB_TO_KG + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
#ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
#ret.steerActuatorDelay = 0.001 # Default delay, Prius has larger delay
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 55.]
ret.longitudinalTuning.kiBP = [0., 55.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 55]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.0, 0.66, 0.42] # braking tune
ret.longitudinalTuning.kiV = [0.135, 0.09]
else:
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.longitudinalTuning.kpV = [2.0, 1.0,
0.5] # braking tune from rav4h
ret.longitudinalTuning.kiV = [0.30, 0.20]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate != CAR.PRIUS:
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
[0.]]
if candidate == CAR.PRIUS:
stop_and_go = True
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 15.00 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045 * CV.LB_TO_KG + std_cargo
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 4.0
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
ret.steerActuatorDelay = 0.5
ret.steerRateCost = 0.5
elif candidate in [CAR.RAV4]:
stop_and_go = True if ret.enableGasInterceptor else False
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.66 # 2.65 default
ret.steerRatio = 17.28 # Rav4 0.5.10 tuning value
ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.3
], [0.03]] #0.6 0.05 default
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5533
ret.lateralTuning.pid.kf = 0.00001 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate in [CAR.RAV4H]:
stop_and_go = True
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.65 # 2.65 default
ret.steerRatio = 16.53 # 0.5.10 tuning
ret.mass = 4100. / 2.205 + std_cargo # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
0.3
], [0.03]] #0.6 0.05 default
ret.wheelbase = 2.65
tire_stiffness_factor = 0.5533
ret.lateralTuning.pid.kf = 0.0001 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.RAV4_2019:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.68986
ret.steerRatio = 17.0
tire_stiffness_factor = 0.7933
ret.mass = 3370. * CV.LB_TO_KG + std_cargo
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.05]]
ret.lateralTuning.pid.kf = 0.0001
elif candidate == CAR.COROLLA_HATCH:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444
ret.mass = 3060. * CV.LB_TO_KG + std_cargo
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate == CAR.COROLLA:
stop_and_go = True if ret.enableGasInterceptor else False
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.70
ret.steerRatio = 17.84 # 0.5.10
tire_stiffness_factor = 1.01794
ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.05]]
ret.lateralTuning.pid.kf = 0.00003909297 # full torque for 20 deg at 80mph means 0.00007818594
elif candidate in [CAR.LEXUS_RXH, CAR.LEXUS_RX]:
stop_and_go = True
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.79
ret.steerRatio = 18.6 # 0.5.10
tire_stiffness_factor = 0.517 # 0.5.10
ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
[0.02]]
ret.lateralTuning.pid.kf = 0.00007 # full torque for 10 deg at 80mph means 0.00007818594
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.safetyParam = 100
ret.wheelbase = 2.79908
ret.steerRatio = 13.3 #from Q
tire_stiffness_factor = 0.444 #from Q
ret.mass = 3737 * CV.LB_TO_KG + std_cargo # mean between min and max
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.04]
] #from Q
ret.lateralTuning.pid.kf = 0.00006 #from Q
elif candidate == CAR.LEXUS_ISH:
stop_and_go = True
ret.safetyParam = 66
ret.wheelbase = 2.80 # in spec
ret.steerRatio = 13.3 # in spec
tire_stiffness_factor = 0.444 # from camry
ret.mass = 3736.8 * CV.LB_TO_KG + std_cargo # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
[0.04]]
ret.lateralTuning.pid.kf = 0.00006 # from camry
elif candidate in [CAR.CHR, CAR.CHRH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.63906
ret.steerRatio = 15.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + std_cargo
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
[0.0428]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.82448
ret.steerRatio = 17.7 # 0.5.10
tire_stiffness_factor = 0.7933
ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
[0.03]]
ret.lateralTuning.pid.kf = 0.0001
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
stop_and_go = True
ret.safetyParam = 100
ret.wheelbase = 2.78
ret.steerRatio = 17.36 # 0.5.10
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18],
[0.0075]]
ret.lateralTuning.pid.kf = 0.00015
elif candidate == CAR.AVALON:
stop_and_go = False
ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
[0.03]]
ret.lateralTuning.pid.kf = 0.00006
ret.wheelbase = 2.82
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
elif candidate == CAR.OLD_CAR:
stop_and_go = True
ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
ret.wheelbase = 2.455
ret.steerRatio = 17.
tire_stiffness_factor = 0.444
ret.mass = 6200 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.10],
[0.04]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
if ret.enableGasInterceptor:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
else:
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [3.6, 1.1, 1.0]
ret.longitudinalTuning.kiV = [0.5, 0.24]
if candidate == CAR.OLD_CAR:
ret.centerToFront = ret.wheelbase * 0.5
else:
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRateCost = 1.
#detect the Pedal address
ret.enableGasInterceptor = 0x201 in fingerprint
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (
stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS,
45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0., 9., 35.]
#ret.gasMaxV = [0.2, 0.5, 0.7]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.steerLimitAlert = False
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
#if ret.enableGasInterceptor:
# ret.gasMaxBP = [0., 9., 35]
# ret.gasMaxV = [0.2, 0.5, 0.7]
# ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
# ret.longitudinalTuning.kiV = [0.18, 0.12]
#else:
# ret.gasMaxBP = [0.]
# ret.gasMaxV = [0.5]
# ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
# ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
