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=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "ford" ret.lateralTuning.init('pid') 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.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 # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None): if fingerprint is None: fingerprint = gen_empty_fingerprint() ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "chrysler" ret.safetyModel = car.CarParams.SafetyModel.chrysler ret.lateralTuning.init('pid') # 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.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 # dp ret = common_interface_get_params_lqr(ret) 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=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "nissan" ret.safetyModel = car.CarParams.SafetyModel.nissan ret.lateralTuning.init('pid') # Nissan port is a community feature, since we don't own one to test ret.communityFeature = True ret.steerLimitAlert = False ret.enableCamera = True ret.steerRateCost = 0.5 ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.0], [0.0]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] ret.steerMaxBP = [0.] # m/s ret.steerMaxV = [1.] if candidate in [CAR.ROGUE, CAR.XTRAIL]: ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 elif candidate == CAR.LEAF: ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 # dp ret = common_interface_get_params_lqr(ret) ret.steerControlType = car.CarParams.SteerControlType.angle ret.radarOffCan = True # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "chrysler" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.chrysler) ] ret.lateralTuning.init('pid') # Speed conversion: 20, 45 mph ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017 ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): ret.wheelbase = 2.91 # in meters ret.steerRatio = 12.7 ret.steerActuatorDelay = 0.2 # in seconds ret.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.enableBsm = 720 in fingerprint[0] # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "nissan" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.nissan) ] ret.lateralTuning.init('pid') ret.steerLimitAlert = False ret.steerRateCost = 0.5 ret.steerActuatorDelay = 0.1 if candidate in [CAR.ROGUE, CAR.XTRAIL]: ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 elif candidate in [CAR.LEAF, CAR.LEAF_IC]: ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 elif candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus ret.mass = 1492 + STD_CARGO_KG ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 ret.steerRatio = 17 ret.steerControlType = car.CarParams.SteerControlType.angle ret.radarOffCan = True # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront) # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" # dp ret.lateralTuning.init('pid') ret.safetyModel = car.CarParams.SafetyModel.gm ret.pcmCruise = False # stock cruise control is kept off # GM port is a community feature # TODO: make a port that uses a car harness and it only intercepts the camera ret.communityFeature = True # Presence of a camera on the object bus is ok. # Have to go to read_only if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.openpilotLongitudinalControl = True tire_stiffness_factor = 0.444 # not optimized yet # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 7 * CV.MPH_TO_MS ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet if candidate == CAR.VOLT: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 15.7 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.MALIBU: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1496. + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: ret.mass = 1363. + STD_CARGO_KG ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.steerRatio = 15.7 ret.steerRatioRear = 0. elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 elif candidate == CAR.BUICK_REGAL: ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.49 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.longitudinalTuning.kpBP = [5., 35.] ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] ret.startAccel = 0.8 ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = True ret.lateralTuning.init('pid') # Most Hyundai car ports are community features for now ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE] ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. ret.startAccel = 1.0 if candidate == CAR.SANTA_FE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 9., 22. ], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.2, 0.35 ], [0.05, 0.09]] elif candidate == CAR.SONATA: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 13.75 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.ELANTRA_HEV_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [3.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [2.0] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 * 1.15 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [ CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV ]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Kia elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV]: 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]] if candidate == CAR.KIA_NIRO_HEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: ret.mass = 1337. + STD_CARGO_KG ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [4.] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Genesis elif candidate == CAR.GENESIS_G70: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [2.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.5] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G80: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainV = [3.5] ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [2.0] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA ]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy # set appropriate safety param for gas signal if candidate in HYBRID_CAR: ret.safetyParam = 2 elif candidate in EV_CAR: ret.safetyParam = 1 ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x58b in fingerprint[0] # dp if Params().get('dp_hkg_smart_mdps') == b'1': ret.minSteerSpeed = 0. ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.lateralTuning.init('pid') ret.radarOffCan = True ret.dashcamOnly = True ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.8 tire_stiffness_factor = 0.70 # not optimized yet if candidate == CAR.CX5: ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.CX9, CAR.CX9_2021]: ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.1 ret.steerRatio = 17.6 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA3: ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 14.0 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA6: ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 # No steer below disable speed ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS ret.centerToFront = ret.wheelbase * 0.41 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) # dp ret = common_interface_get_params_lqr(ret) 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.lateralTuning.init('pid') # Set global default parameters ret.radarOffCan = True ret.enableCamera = True # Stock camera detection doesn't apply to VW ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.05 # Hopefully all racks are similar here ret.steerLimitTimer = 0.4 # Override these per-car as necessary ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] ret.lateralTuning.pid.kf = 0.00006 # PER-PLATFORM PARAMETERS - DO NOT EDIT HERE TO TUNE INDIVIDUAL VEHICLES if candidate in MQB_CARS: # Configurations shared between all MQB vehicles ret.carName = "volkswagen" ret.safetyModel = car.CarParams.SafetyModel.volkswagen # Determine installed network location and trans type from fingerprint ret.networkLocation = NWL.fwdCamera if 0x122 in fingerprint[0] else NWL.gateway if 0xAD in fingerprint[0]: # Getriebe_11 ret.transmissionType = TRANS.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TRANS.direct else: # No trans at all ret.transmissionType = TRANS.manual elif candidate in PQ_CARS: # Configurations shared between all PQ35/PQ46/NMS vehicles ret.carName = "volkswagen" ret.safetyModel = car.CarParams.SafetyModel.volkswagenPq # Determine installed network location and trans type from fingerprint ret.networkLocation = NWL.fwdCamera if 0x368 in fingerprint[0] else NWL.gateway if 0x440 in fingerprint[0]: # Getriebe_1 ret.transmissionType = TRANS.automatic else: # No trans at all ret.transmissionType = TRANS.manual # PER-VEHICLE PARAMETERS - EDIT HERE TO TUNE INDIVIDUAL VEHICLES if candidate == CAR.GENERICMQB: # FIXME: Defaulting to VW Golf Mk7 as a baseline. ret.mass = 1500 + STD_CARGO_KG # Average, varies on trim/package ret.wheelbase = 2.64 ret.centerToFront = ret.wheelbase * 0.45 # Estimated ret.steerRatio = 15.6 tire_stiffness_factor = 1.0 elif candidate == CAR.GENERICPQ: ret.mass = 1375 + STD_CARGO_KG # Average, varies on trim/package ret.wheelbase = 2.58 ret.centerToFront = ret.wheelbase * 0.45 # Estimated ret.steerRatio = 15.6 tire_stiffness_factor = 1.0 # dp ret = common_interface_get_params_lqr(ret) # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "toyota" ret.safetyModel = car.CarParams.SafetyModel.toyota ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] if candidate == CAR.PRIUS: stop_and_go = True ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = 4.0 ret.lateralTuning.indi.outerLoopGain = 3.0 ret.lateralTuning.indi.timeConstant = 1.0 ret.lateralTuning.indi.actuatorEffectiveness = 1.0 ret.steerActuatorDelay = 0.5 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False ret.safetyParam = 73 ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if ret.enableGasInterceptor: ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune. ret.longitudinalTuning.kiV = [0.195, 0.10] ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1500.0 ret.lateralTuning.lqr.ki = 0.05 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255] ret.lateralTuning.lqr.l = [0.3233671, 0.3185757] ret.lateralTuning.lqr.dcGain = 0.002237852961363602 elif candidate == CAR.COROLLA: stop_and_go = False ret.safetyParam = 88 ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_RXH: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 # not optimized yet ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_RXH_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16.0 # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate == CAR.AVALON: stop_and_go = False ret.safetyParam = 73 ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.RAV4_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kf = 0.00004 for fw in car_fw: if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00": ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.6 ], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 break elif candidate == CAR.RAV4H_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kf = 0.00004 for fw in car_fw: if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00": ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.6 ], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 break elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: stop_and_go = True ret.minSpeedCan = 0.375 ret.safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.SIENNA: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 3.03 ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_IS: stop_and_go = False ret.safetyParam = 77 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00007 elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.PRIUS_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRation from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_ISH: stop_and_go = True # set to true because it's a hybrid ret.safetyParam = 130 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_GSH: stop_and_go = True # set to true because it's a hybrid ret.safetyParam = 130 ret.wheelbase = 2.84988 ret.steerRatio = 14.35 # range from 11.5 - 17.2, lets try 14.35 tire_stiffness_factor = 0.444 ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_NXT: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 # dp ret = common_interface_get_params_lqr(ret) if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1': ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG if Params().get('dp_lqr') == b'0': ret.lateralTuning.indi.timeConstant = 0.1 ret.steerRateCost = 0.5 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control ret.enableDsu = is_ecu_disconnected( fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = ret.enableCamera and ( smartDsu or ret.enableDsu or candidate in TSS2_CAR) cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor) # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if ( stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS # removing the DSU disables AEB and it's considered a community maintained feature # intercepting the DSU is a community feature since it requires unofficial hardware ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kiBP = [0., 35.] if ret.enableGasInterceptor: ret.gasMaxBP = [0., 9., 35] ret.gasMaxV = [0.2, 0.5, 0.7] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiV = [0.18, 0.12] else: ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] ret.longitudinalTuning.kiV = [0.54, 0.36] return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "toyota" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.toyota) ] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] if candidate == CAR.PRIUS: stop_and_go = True ret.safetyConfigs[ 0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [4.0] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.0] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.0] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.0] ret.steerActuatorDelay = 0.3 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid if ret.enableGasInterceptor: ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune. ret.longitudinalTuning.kiV = [0.195, 0.10] ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1500.0 ret.lateralTuning.lqr.ki = 0.05 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255] ret.lateralTuning.lqr.l = [0.3233671, 0.3185757] ret.lateralTuning.lqr.dcGain = 0.002237852961363602 elif candidate == CAR.COROLLA: stop_and_go = False ret.safetyConfigs[0].safetyParam = 88 ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_RXH: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX_TSS2: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 # not optimized yet ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_RXH_TSS2: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16.0 # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [ CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2 ]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]: stop_and_go = False ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and ( fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.15 ], [0.05]] ret.lateralTuning.pid.kf = 0.00004 break elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_ESH: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.8190 ret.steerRatio = 16.06 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.SIENNA: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 3.03 ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_IS: stop_and_go = False ret.safetyConfigs[0].safetyParam = 77 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.safetyConfigs[0].safetyParam = 100 ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00007 elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.PRIUS_TSS2: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRation from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [20, 24, 30] ret.lateralTuning.indi.innerLoopGainV = [7.25, 7.5, 9] ret.lateralTuning.indi.outerLoopGainBP = [20, 24, 30] ret.lateralTuning.indi.outerLoopGainV = [6, 7.25, 6] ret.lateralTuning.indi.timeConstantBP = [20, 24] ret.lateralTuning.indi.timeConstantV = [2.0, 2.2] ret.lateralTuning.indi.actuatorEffectivenessBP = [20, 24] ret.lateralTuning.indi.actuatorEffectivenessV = [2, 3] ret.steerActuatorDelay = 0.3 ret.steerRateCost = 1.25 ret.steerLimitTimer = 0.5 elif candidate == CAR.MIRAI: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.91 ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.ALPHARD_TSS2: stop_and_go = True ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 3.00 ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_ISH: stop_and_go = True ret.safetyConfigs[0].safetyParam = 130 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.PRIUS_ALPHA]: stop_and_go = False ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 18 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00006 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control found_ecus = [fw.ecu for fw in car_fw] ret.enableDsu = (len(found_ecus) > 0) and ( Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR if Params().get_bool( 'dp_atl') and not Params().get_bool('dp_atl_op_long'): ret.openpilotLongitudinalControl = False # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if ( stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED # removing the DSU disables AEB and it's considered a community maintained feature # intercepting the DSU is a community feature since it requires unofficial hardware ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu if ret.enableGasInterceptor: ret.longitudinalTuning.kpBP = [ 0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35. ] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5] ret.longitudinalTuning.kiBP = [ 0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35. ] ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36] elif candidate in [ CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.PRIUS_TSS2 ]: # Improved longitudinal tune ret.longitudinalTuning.deadzoneBP = [0., 8.05] ret.longitudinalTuning.deadzoneV = [.0, .14] ret.longitudinalTuning.kpBP = [0., 5., 20.] ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7] ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.] ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1] ret.stoppingDecelRate = 0.3 # reach stopping target smoothly ret.startingAccelRate = 6.0 # release brakes fast else: # Default longitudinal tune ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] ret.longitudinalTuning.kiV = [0.54, 0.36] # dp ret = common_interface_get_params_lqr(ret) if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1': ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.indi.timeConstantV = [0.1] ret.lateralTuning.indi.timeConstantBP = [0.] ret.steerRateCost = 0.5 return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "honda" ret.lateralTuning.init('pid') 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.JADE: stop_and_go = False ret.mass = 1557. + STD_CARGO_KG ret.wheelbase = 2.76 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) # dp if Params().get('dp_honda_eps_mod') == b'1': if candidate == CAR.CIVIC: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2566, 8000 ], [0, 2566, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.32 ], [0.1]] #2.5x tuned by @CFranHonda elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2564, 8000 ], [0, 2564, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.32 ], [0.1]] #2.5 default mod #TMG put your values here elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] elif candidate == CAR.CRV_5G: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560, 10000 ], [0, 2560, 3840]] #tuned by Titanminer (8000) ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] elif candidate == CAR.CRV_HYBRID: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00 ], [ 0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00 ]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.21 ], [0.07]] #still needs to finish tuning for the new car ret.lateralTuning.pid.kf = 0.00004 ret = common_interface_get_params_lqr(ret) # 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=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "subaru" ret.radarOffCan = True ret.lateralTuning.init('pid') if candidate in PREGLOBAL_CARS: ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy else: ret.safetyModel = car.CarParams.SafetyModel.subaru # Subaru port is a community feature, since we don't own one to test ret.communityFeature = True ret.dashcamOnly = candidate in PREGLOBAL_CARS # force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches) # was never released ret.enableCamera = True ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate == CAR.ASCENT: ret.mass = 2031. + STD_CARGO_KG ret.wheelbase = 2.89 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13.5 ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 20. ], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.0025, 0.1 ], [0.00025, 0.01]] if candidate == CAR.IMPREZA: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15 ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 20. ], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [ 0.02, 0.03 ]] if candidate == CAR.FORESTER: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 14., 23. ], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.01, 0.065, 0.2 ], [0.001, 0.015, 0.025]] if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]: ret.safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000039 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 10., 20. ], [0., 10., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.01, 0.05, 0.2 ], [0.003, 0.018, 0.025]] if candidate == CAR.LEGACY_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 20. ], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [ 0.01, 0.02 ]] if candidate == CAR.OUTBACK_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000039 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 0., 10., 20. ], [0., 10., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.01, 0.05, 0.2 ], [0.003, 0.018, 0.025]] # dp ret = common_interface_get_params_lqr(ret) # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = True ret.lateralTuning.init('pid') # Most Hyundai car ports are community features for now ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE] ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. if candidate == CAR.SANTA_FE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] elif candidate == CAR.SONATA: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_2019: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 13.75 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate 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.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 15 # dp - indi value from donfyffe ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = 3.1 ret.lateralTuning.indi.outerLoopGain = 2.1 ret.lateralTuning.indi.timeConstant = 1.4 ret.lateralTuning.indi.actuatorEffectiveness = 1.4 ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minEnableSpeed = 10 * CV.MPH_TO_MS elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 * 1.15 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]: 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.VELOSTER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Kia elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_NIRO_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Genesis elif candidate == CAR.GENESIS_G70: ret.lateralTuning.init('indi') # TODO: BPs for city speeds - this tuning is great on the highway but a bit lazy in town ret.lateralTuning.indi.innerLoopGain = 2.4 # higher values steer more ret.lateralTuning.indi.outerLoopGain = 3.0 # higher values steer more ret.lateralTuning.indi.timeConstant = 1.0 # lower values steer more ret.lateralTuning.indi.actuatorEffectiveness = 2.0 # lower values steer more ret.steerActuatorDelay = 0.4 # 0.08 stock ret.steerLimitTimer = 0.4 # down from 0.4 tire_stiffness_factor = 1.0 ret.steerRateCost = 1.0 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.906 ret.steerRatio = 14.4 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.init('indi') ret.lateralTuning.indi.innerLoopGain = 3.5 ret.lateralTuning.indi.outerLoopGain = 2.0 ret.lateralTuning.indi.timeConstant = 1.4 ret.lateralTuning.indi.actuatorEffectiveness = 2.3 ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.centerToFront = ret.wheelbase * 0.4 # dp if Params().get('dp_hkg_smart_mdps') == b'1': ret.minSteerSpeed = 0. ret = common_interface_get_params_lqr(ret) # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "subaru" ret.radarOffCan = True ret.lateralTuning.init('pid') if candidate in PREGLOBAL_CARS: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] ret.enableBsm = 0x25c in fingerprint[0] else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] ret.enableBsm = 0x228 in fingerprint[0] #ret.dashcamOnly = candidate in PREGLOBAL_CARS ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate == CAR.ASCENT: ret.mass = 2031. + STD_CARGO_KG ret.wheelbase = 2.89 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13.5 ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] if candidate == CAR.IMPREZA: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15 ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] if candidate == CAR.IMPREZA_2020: ret.safetyConfigs[0].safetyParam = 1 # lower max_steer for 2020 ret.mass = 1480. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13 ret.steerActuatorDelay = 0.1 # end-to-end angle controller ret.steerRateCost = 1 ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20., 30.], [0., 10., 20., 30.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2, 0.21], [0.0010, 0.004, 0.008, 0.009]] if candidate == CAR.FORESTER: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]: ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000039 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]] if candidate == CAR.WRX_PREGLOBAL: ret.safetyConfigs[0].safetyParam = 1 # WRX has reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] if candidate == CAR.LEGACY_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] if candidate == CAR.LEGACY_PREGLOBAL_2018: ret.safetyConfigs[0].safetyParam = 1 # Legacy 2018-2019 has reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] if candidate == CAR.LEVORG_PREGLOBAL: ret.safetyConfigs[0].safetyParam = 1 # Levorg has reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] if candidate == CAR.OUTBACK_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock ret.steerActuatorDelay = 0.1 ret.lateralTuning.pid.kf = 0.000039 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]] # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "honda" ret.lateralTuning.init('pid') if candidate in HONDA_BOSCH: ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness) ] ret.radarOffCan = True # Disable the radar and let openpilot control longitudinal # WARNING: THIS DISABLES AEB! ret.openpilotLongitudinalControl = Params().get_bool( "DisableRadar") ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.hondaNidec) ] ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.openpilotLongitudinalControl = True ret.pcmCruise = not ret.enableGasInterceptor ret.communityFeature = ret.enableGasInterceptor ret.enableBsm = True #if candidate in (CAR.CRV_5G, CAR.CRV_HYBRID, ): #ret.enableBsm = 0x12f8bfa7 in fingerprint[0] # Accord 1.5T CVT has different gearbox message if candidate == CAR.ACCORD and 0x191 in fingerprint[1]: ret.transmissionType = TransmissionType.cvt # Certain Hondas have an extra steering sensor at the bottom of the steering rack, # which improves controls quality as it removes the steering column torsion from feedback. # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward if candidate in HONDA_BOSCH: ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelayUpperBound = 0.5 # s else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] eps_modified = False for fw in car_fw: if fw.ecu == "eps" and b"," in fw.fwVersion: eps_modified = True if candidate == CAR.CIVIC: 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. 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]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): stop_and_go = True ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.8467 if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] else: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: 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]] 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]] elif candidate == CAR.CRV_5G: stop_and_go = True 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 elif candidate == CAR.CRV_HYBRID: stop_and_go = True 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]] elif candidate == CAR.FIT: stop_and_go = False ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.53 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: stop_and_go = False ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.74 # the remaining parameters were copied from FIT ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.HRV: 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]] 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]] elif candidate == CAR.ACURA_RDX_3G: stop_and_go = True 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 elif candidate == CAR.ODYSSEY: stop_and_go = False ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: stop_and_go = False ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.90 ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY ret.steerRatio = 14.35 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 32767], [0, 32767] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] 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]] 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]] 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]] elif candidate == CAR.HONDA_E: stop_and_go = True ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.5 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 16.71 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.6 ], [0.18]] # TODO: can probably use some tuning elif candidate == CAR.JADE: stop_and_go = False ret.mass = 1557. + STD_CARGO_KG ret.wheelbase = 2.76 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] else: raise ValueError("unsupported car %s" % candidate) # These cars use alternate user brake msg (0x1BE) if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG # 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 if candidate in [CAR.JADE]: ret.minEnableSpeed = -1. if ( ret.enableGasInterceptor) else 30 * CV.KPH_TO_MS else: 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.steerActuatorDelay = 0.1 ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.8 # dp if Params().get('dp_honda_eps_mod') == b'1': if candidate == CAR.CIVIC: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560, 8000 ], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.3 ], [0.1]] #tuned by Comma elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2564, 8000 ], [0, 2564, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.3 ], [0.09]] #2.5 default mod #Tuned by TMG elif candidate in (CAR.ACCORD, CAR.ACCORDH): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] elif candidate == CAR.CRV_5G: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560, 10000 ], [0, 2560, 3840]] #tuned by Titanminer (8000) ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] elif candidate == CAR.CRV_HYBRID: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00 ], [ 0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00 ]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.21 ], [0.07]] #still needs to finish tuning for the new car ret.lateralTuning.pid.kf = 0.00004 ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "volkswagen" ret.radarOffCan = True if True: # pylint: disable=using-constant-test # Set global MQB parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 if 0xAD in fingerprint[0]: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct else: ret.transmissionType = TransmissionType.manual if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]): # Airbag_01, LWI_01, ESP_19, ESP_21 ret.networkLocation = NetworkLocation.gateway else: ret.networkLocation = NetworkLocation.fwdCamera # Global tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.05 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out tire_stiffness_factor = 1.0 # Let the params learner figure this out ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] # Per-chassis tuning values, override tuning defaults here if desired if candidate == CAR.ARTEON_MK1: ret.mass = 1733 + STD_CARGO_KG ret.wheelbase = 2.84 elif candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.TAOS_MK1: ret.mass = 1498 + STD_CARGO_KG ret.wheelbase = 2.69 elif candidate == CAR.TCROSS_MK1: ret.mass = 1150 + STD_CARGO_KG ret.wheelbase = 2.60 elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.TRANSPORTER_T61: ret.mass = 1926 + STD_CARGO_KG ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference ret.minSteerSpeed = 14.0 elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SEAT_LEON_MK3: ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KAROQ_MK1: ret.mass = 1278 + STD_CARGO_KG ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KODIAQ_MK1: ret.mass = 1569 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.SKODA_OCTAVIA_MK3: ret.mass = 1388 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SKODA_SCALA_MK1: ret.mass = 1192 + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.SKODA_SUPERB_MK3: ret.mass = 1505 + STD_CARGO_KG ret.wheelbase = 2.84 else: raise ValueError("unsupported car %s" % candidate) ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.45 ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) # dp ret = common_interface_get_params_lqr(ret) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "volkswagen" ret.communityFeature = True ret.radarOffCan = True if True: # pylint: disable=using-constant-test # Set global MQB parameters ret.safetyModel = car.CarParams.SafetyModel.volkswagen ret.enableBsm = 0x30F in fingerprint[0] if 0xAD in fingerprint[0]: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct else: # No trans message at all, must be a true stick-shift manual ret.transmissionType = TransmissionType.manual if 0x86 in fingerprint[ 1]: # LWI_01 seen on bus 1, we're wired to the CAN gateway ret.networkLocation = NetworkLocation.gateway else: # We're wired to the LKAS camera ret.networkLocation = NetworkLocation.fwdCamera # Global tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.05 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out tire_stiffness_factor = 1.0 # Let the params learner figure this out ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] # Per-chassis tuning values, override tuning defaults here if desired if candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.TCROSS_MK1: ret.mass = 1150 + STD_CARGO_KG ret.wheelbase = 2.60 elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SEAT_LEON_MK3: ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SKODA_KODIAQ_MK1: ret.mass = 1569 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.SKODA_OCTAVIA_MK3: ret.mass = 1388 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SKODA_SCALA_MK1: ret.mass = 1192 + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.SKODA_SUPERB_MK3: ret.mass = 1505 + STD_CARGO_KG ret.wheelbase = 2.84 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.centerToFront = ret.wheelbase * 0.45 ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) # dp ret = common_interface_get_params_lqr(ret) return ret