def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mock" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.noOutput) ] ret.mass = 1700. ret.rotationalInertia = 2500. ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13. # reasonable ret.tireStiffnessFront = 1e6 # very stiff to neglect slip ret.tireStiffnessRear = 1e6 # very stiff to neglect slip return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "mock" ret.safetyModel = car.CarParams.SafetyModel.noOutput ret.mass = 1700. ret.rotationalInertia = 2500. ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13. # reasonable ret.tireStiffnessFront = 1e6 # very stiff to neglect slip ret.tireStiffnessRear = 1e6 # very stiff to neglect slip return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "nissan" ret.safetyModel = car.CarParams.SafetyModel.nissan 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 == 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 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(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "subaru" ret.radarOffCan = True ret.safetyModel = car.CarParams.SafetyModel.subaru # Subaru port is a community feature, since we don't own one to test ret.communityFeature = True # 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.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]] # 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 = "nissan" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.nissan) ] 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) 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 # 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 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=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "ford" ret.safetyModel = car.CarParams.SafetyModel.ford ret.dashcamOnly = True ret.wheelbase = 2.85 ret.steerRatio = 14.8 ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV, ret.lateralTuning.pid.kfV = [ [0.01], [0.005], [1. / MAX_ANGLE] ] # TODO: tune this # 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 ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "mazda" ret.safetyModel = car.CarParams.SafetyModel.mazda ret.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 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(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) # VW port is a community feature, since we don't own one to test ret.communityFeature = True if candidate == CAR.GOLF: # Set common MQB parameters that will apply globally ret.carName = "volkswagen" ret.radarOffCan = True ret.safetyModel = car.CarParams.SafetyModel.volkswagen # Additional common MQB parameters that may be overridden per-vehicle ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here ret.steerLimitTimer = 0.4 ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kdBP = [0., 18., 27., 35.] # derivative disabled for now ret.lateralTuning.pid.kdV = [0., 0., 0., 0.] ret.mass = 1500 + STD_CARGO_KG ret.wheelbase = 2.64 ret.centerToFront = ret.wheelbase * 0.45 ret.steerRatio = 15.6 ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] tire_stiffness_factor = 1.0 ret.enableCamera = True # Stock camera detection doesn't apply to VW ret.transmissionType = car.CarParams.TransmissionType.automatic # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "ford" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] ret.lateralTuning.init('pid') 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=gen_empty_fingerprint(), car_fw=None, disable_radar=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.pcmCruise = False # stock cruise control is kept off # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} # Presence of a camera on the object bus is ok. # Have to go to read_only if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.openpilotLongitudinalControl = True tire_stiffness_factor = 0.444 # not optimized yet # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 7 * CV.MPH_TO_MS ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.longitudinalTuning.kpBP = [5., 35.] ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kiV = [0.] ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() ret.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: ret.mass = 1496. + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: ret.mass = 1363. + STD_CARGO_KG ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 ret.steerRatio = 15.7 elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.centerToFront = ret.wheelbase * 0.49 elif candidate == CAR.ESCALADE_ESV: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 2739. + STD_CARGO_KG ret.wheelbase = 3.302 ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.49 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] ret.lateralTuning.pid.kf = 0.000045 tire_stiffness_factor = 1.0 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "toyota" ret.safetyModel = car.CarParams.SafetyModel.toyota ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] if candidate == CAR.PRIUS: stop_and_go = True ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file ret.wheelbase = 2.70 ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = 4.0 ret.lateralTuning.indi.outerLoopGain = 3.0 ret.lateralTuning.indi.timeConstant = 1.0 ret.lateralTuning.indi.actuatorEffectiveness = 1.0 ret.steerActuatorDelay = 0.5 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False ret.safetyParam = 73 ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1500.0 ret.lateralTuning.lqr.ki = 0.05 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255] ret.lateralTuning.lqr.l = [0.3233671, 0.3185757] ret.lateralTuning.lqr.dcGain = 0.002237852961363602 elif candidate == CAR.COROLLA: stop_and_go = False ret.safetyParam = 100 ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_RXH: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RX_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 # not optimized yet ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.CAMRY, CAR.CAMRYH]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.HIGHLANDER_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.18 ], [0.015]] # community tuning ret.lateralTuning.pid.kf = 0.00012 # community tuning elif candidate == CAR.AVALON: stop_and_go = False ret.safetyParam = 73 ret.wheelbase = 2.82 ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.RAV4_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.RAV4H_TSS2: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.SIENNA: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 3.03 ret.steerRatio = 16.0 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00007818594 elif candidate == CAR.LEXUS_IS: stop_and_go = False ret.safetyParam = 77 ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.safetyParam = 100 ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kf = 0.00007 elif candidate == CAR.LEXUS_NXH: stop_and_go = True ret.safetyParam = 73 ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] ret.lateralTuning.pid.kf = 0.00006 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control ret.enableDsu = is_ecu_disconnected( fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = ret.enableCamera and ( smartDsu or ret.enableDsu or candidate in TSS2_CAR) cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu) cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor) # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if ( stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS # removing the DSU disables AEB and it's considered a community maintained feature # intercepting the DSU is a community feature since it requires unofficial hardware ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kiBP = [0., 35.] if ret.enableGasInterceptor: ret.gasMaxBP = [0., 9., 35] ret.gasMaxV = [0.2, 0.5, 0.7] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiV = [0.18, 0.12] else: ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] ret.longitudinalTuning.kiV = [0.54, 0.36] return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = True # Most Hyundai car ports are community features for now ret.communityFeature = candidate not in [CAR.SONATA] ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. if candidate == CAR.SANTA_FE: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 9., 22. ], [9., 22.]] ret.lateralTuning.pid.kfBP = [0.] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.2, 0.35 ], [0.05, 0.09]] elif candidate == CAR.SONATA: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_2019: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 13.75 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.lateralTuning.pid.kfV = [0.00006] ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate == CAR.GENESIS_G80: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA: ret.lateralTuning.pid.kfV = [0.00006] ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kfV = [0.00006] ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]: ret.lateralTuning.pid.kfV = [0.00006] ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 31 * CV.MPH_TO_MS elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kfV = [0.00005] ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [ [0.], [0.], [0.] ] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV ]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay ret.sccBus = -1 return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai # Hyundai port is a community feature for now ret.communityFeature = True ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.8 tire_stiffness_factor = 1. ret.lateralTuning.pid.kd = 0. if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 9., 22. ], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.2, 0.35 ], [0.05, 0.09]] elif candidate in [CAR.SONATA, CAR.SONATA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 13.75 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.steerActuatorDelay = 0.08 # Stinger Limited AWD 3.3T stock value (Tunder's 2020) ret.steerLimitTimer = 0.01 # no timer on value changes, lightning fast up or down (Tunder's 2020) tire_stiffness_factor = 0.7 # LiveParameters (Tunder's 2020) ret.steerRateCost = 0.25 # i don't know what this actually does, but the car drives much better this way than at 1.0. (Tunder) ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs ret.steerRatio = 10.28 # measured by wheel alignment machine/reported steering angle by OP, still being worked on. 2020 GT Limited AWD has a variable steering ratio ultimately ending in 10.28. The ratio at 0-1 deg is unknown, but likely higher than 10.28 to soften steering movements at midline (Tunder) ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [ [0.13], [0.05] ] # any higher p value and it oscillates forever. much lower and it doesn't turn enough (lazy) elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_NIRO_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ_EV_LTD: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1350. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_SPORTAGE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 0. elif candidate == CAR.GRANDEUR: tire_stiffness_factor = 0.6 ret.mass = 1640. + STD_CARGO_KG ret.wheelbase = 2.845 ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 2000.0 ret.lateralTuning.lqr.ki = 0.01 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = 0.003 ret.steerRatio = 13.7 ret.steerActuatorDelay = 0.3 ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.8 elif candidate == CAR.K7_HYBRID: tire_stiffness_factor = 0.9 ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.885 ret.steerRatio = 13.7 ret.steerActuatorDelay = 0.3 ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.6 ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 2000.0 ret.lateralTuning.lqr.ki = 0.03 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = 0.003 ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] ret.longitudinalTuning.deadzoneBP = [0.] ret.longitudinalTuning.deadzoneV = [0.] # steer, gas, brake limitations VS speed ret.steerMaxBP = [0.] ret.steerMaxV = [1.0] ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [0., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay ret.stoppingControl = True ret.startAccel = 0.0 # ignore CAN2 address if L-CAN on the same BUS ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \ else 2 if 1056 in fingerprint[2] else -1 ret.radarOffCan = ret.sccBus == -1 ret.openpilotLongitudinalControl = bool(ret.sccBus and not ret.radarOffCan) ret.autoLcaEnabled = True return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), 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] # 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]): # Airbag_01, LWI_01, ESP_19 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.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_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 # 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) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = True ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. if candidate == CAR.SANTA_FE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 9., 22. ], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.2, 0.35 ], [0.05, 0.09]] ret.minSteerSpeed = 0. elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 0. elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 0. elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ_EV_LTD: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy #if candidate in [CAR.SONATA]: # ret.safetyModel = car.CarParams.SafetyModel.hyundai params = Params() PidKp = float(int(params.get("PidKp", encoding='utf8')) * 0.01) PidKi = float(int(params.get("PidKi", encoding='utf8')) * 0.001) PidKd = float(int(params.get("PidKd", encoding='utf8')) * 0.01) PidKf = float(int(params.get("PidKf", encoding='utf8')) * 0.00001) InnerLoopGain = float( int(params.get("InnerLoopGain", encoding='utf8')) * 0.1) OuterLoopGain = float( int(params.get("OuterLoopGain", encoding='utf8')) * 0.1) TimeConstant = float( int(params.get("TimeConstant", encoding='utf8')) * 0.1) ActuatorEffectiveness = float( int(params.get("ActuatorEffectiveness", encoding='utf8')) * 0.1) Scale = float(int(params.get("Scale", encoding='utf8')) * 1.0) LqrKi = float(int(params.get("LqrKi", encoding='utf8')) * 0.001) DcGain = float(int(params.get("DcGain", encoding='utf8')) * 0.0001) LqrSteerMaxV = float( int(params.get("SteerMaxvAdj", encoding='utf8')) * 0.1) # Most Hyundai car ports are community features for now ret.communityFeature = False ret.startAccel = 1.0 tire_stiffness_factor = float( int(params.get("TireStiffnessFactorAdj", encoding='utf8')) * 0.01) ret.steerActuatorDelay = float( int(params.get("SteerActuatorDelayAdj", encoding='utf8')) * 0.01) ret.steerRateCost = float( int(params.get("SteerRateCostAdj", encoding='utf8')) * 0.01) ret.steerLimitTimer = float( int(params.get("SteerLimitTimerAdj", encoding='utf8')) * 0.01) ret.steerRatio = float( int(params.get("SteerRatioAdj", encoding='utf8')) * 0.1) if int(params.get("LateralControlMethod", encoding='utf8')) == 0: ret.lateralTuning.pid.kf = PidKf ret.lateralTuning.pid.kpBP = [0., 9.] ret.lateralTuning.pid.kpV = [0.1, PidKp] ret.lateralTuning.pid.kiBP = [0., 9.] ret.lateralTuning.pid.kiV = [0.01, PidKi] ret.lateralTuning.pid.kdBP = [0.] ret.lateralTuning.pid.kdV = [PidKd] ret.lateralTuning.pid.newKfTuned = True if params.get( "ShaneFeedForward", encoding='utf8') == "1" else False # Shane's feedforward elif int(params.get("LateralControlMethod", encoding='utf8')) == 1: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0., 9.] ret.lateralTuning.indi.innerLoopGainV = [ 3.0, InnerLoopGain ] # third tune. Highest value that still gives smooth control. Effects turning into curves. ret.lateralTuning.indi.outerLoopGainBP = [0., 9.] ret.lateralTuning.indi.outerLoopGainV = [ 1.5, OuterLoopGain ] # forth tune. Highest value that still gives smooth control. Effects lane centering. ret.lateralTuning.indi.timeConstantBP = [0., 9.] ret.lateralTuning.indi.timeConstantV = [ 2.0, TimeConstant ] # second tune. Lowest value with smooth actuation. Avoid the noise of actuator gears thrashing. ret.lateralTuning.indi.actuatorEffectivenessBP = [0., 9.] ret.lateralTuning.indi.actuatorEffectivenessV = [ 3.0, ActuatorEffectiveness ] # first tune. Lowest value without oversteering. May vary with speed. # lateralTuning.indi.actuatorEffectiveness # As effectiveness increases, actuation strength decreases # Too high: weak, sloppy lane centering, slow oscillation, can't follow high curvature, high steering error causes snappy corrections # Too low: overpower, saturation, jerky, fast oscillation # Just right: Highest still able to maintain good lane centering. # lateralTuning.indi.timeConstant # Extend exponential decay of prior output steer # Too high: sloppy lane centering # Too low: noisy actuation, responds to every bump, maybe unable to maintain lane center due to rapid actuation # Just right: above noisy actuation and lane centering instability # lateralTuning.indi.innerLoopGain # Steer rate error gain # Too high: jerky oscillation in high curvature # Too low: sloppy, cannot accomplish desired steer angle # Just right: brief snap on entering high curvature # lateralTuning.indi.outerLoopGain # Steer error gain # Too high: twitchy hyper lane centering, oversteering # Too low: sloppy, all over lane # Just right: crisp lane centering elif int(params.get("LateralControlMethod", encoding='utf8')) == 2: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110., 451.] ret.lateralTuning.lqr.l = [0.33, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.steerMaxV = [LqrSteerMaxV] ret.steerMaxBP = [0.] if candidate == CAR.GENESIS: ret.mass = 1900. + STD_CARGO_KG ret.wheelbase = 3.01 elif candidate == CAR.GENESIS_G70: ret.mass = 1640. + STD_CARGO_KG ret.wheelbase = 2.84 elif candidate == CAR.GENESIS_G80: ret.mass = 1855. + STD_CARGO_KG ret.wheelbase = 3.01 elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 elif candidate in [CAR.SANTA_FE]: ret.mass = 1694 + STD_CARGO_KG ret.wheelbase = 2.766 elif candidate in [CAR.SONATA, CAR.SONATA_HEV]: ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]: ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 elif candidate == CAR.PALISADE: ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.KONA: ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]: ret.mass = 1685. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate in [CAR.IONIQ_HEV, CAR.IONIQ_EV]: ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]: ret.mass = 1640. + STD_CARGO_KG ret.wheelbase = 2.845 elif candidate == CAR.VELOSTER: ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 elif candidate == CAR.NEXO: ret.mass = 1885. + STD_CARGO_KG ret.wheelbase = 2.79 # kia elif candidate == CAR.SORENTO: ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate in [CAR.OPTIMA, CAR.OPTIMA_HEV]: ret.wheelbase = 2.80 ret.mass = 1595. + STD_CARGO_KG elif candidate == CAR.STINGER: ret.mass = 1825.0 + STD_CARGO_KG ret.wheelbase = 2.906 # https://www.kia.com/us/en/stinger/specs elif candidate == CAR.FORTE: ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 elif candidate == CAR.CEED: ret.mass = 1350. + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.SPORTAGE: ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]: ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate in [CAR.CADENZA, CAR.CADENZA_HEV]: ret.mass = 1640. + STD_CARGO_KG ret.wheelbase = 2.845 elif candidate == CAR.SELTOS: ret.mass = 1310. + STD_CARGO_KG ret.wheelbase = 2.6 ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.torque ret.longitudinalTuning.kpBP = [0., 10., 40.] ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2] ret.longitudinalTuning.kiBP = [0., 10., 30., 40.] ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005] ret.longitudinalTuning.deadzoneBP = [0., 40] ret.longitudinalTuning.deadzoneV = [0., 0.02] # steer, gas, brake limitations VS speed ret.gasMaxBP = [0., 10., 40.] ret.gasMaxV = [0.5, 0.5, 0.5] ret.brakeMaxBP = [0., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = True ret.stoppingControl = True ret.startAccel = 0.0 ret.standStill = False # ignore CAN2 address if L-CAN on the same BUS ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \ else 2 if 1056 in fingerprint[2] else -1 ret.radarOffCan = False ret.openpilotLongitudinalControl = False ret.enableCruise = not ret.radarOffCan ret.spasEnabled = False # set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or True: ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "volkswagen" ret.radarOffCan = True if True: # pylint: disable=using-constant-test # Set global MQB parameters ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.volkswagen) ] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 if 0xAD in fingerprint[0]: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct else: ret.transmissionType = TransmissionType.manual if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21 ret.networkLocation = NetworkLocation.gateway else: ret.networkLocation = NetworkLocation.fwdCamera # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out tire_stiffness_factor = 1.0 # Let the params learner figure this out ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] # Per-chassis tuning values, override tuning defaults here if desired if candidate == CAR.ARTEON_MK1: ret.mass = 1733 + STD_CARGO_KG ret.wheelbase = 2.84 elif candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.POLO_MK6: ret.mass = 1230 + STD_CARGO_KG ret.wheelbase = 2.55 elif candidate == CAR.TAOS_MK1: ret.mass = 1498 + STD_CARGO_KG ret.wheelbase = 2.69 elif candidate == CAR.TCROSS_MK1: ret.mass = 1150 + STD_CARGO_KG ret.wheelbase = 2.60 elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.TRANSPORTER_T61: ret.mass = 1926 + STD_CARGO_KG ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference ret.minSteerSpeed = 14.0 elif candidate == CAR.TROC_MK1: ret.mass = 1413 + STD_CARGO_KG ret.wheelbase = 2.63 elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q3_MK2: ret.mass = 1623 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SEAT_LEON_MK3: ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KAROQ_MK1: ret.mass = 1278 + STD_CARGO_KG ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KODIAQ_MK1: ret.mass = 1569 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.SKODA_OCTAVIA_MK3: ret.mass = 1388 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SKODA_SCALA_MK1: ret.mass = 1192 + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.SKODA_SUPERB_MK3: ret.mass = 1505 + STD_CARGO_KG ret.wheelbase = 2.84 else: raise ValueError(f"unsupported car {candidate}") ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.45 ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai params = Params() if int(params.get('LateralControlPriority')) == 0: ret.radarOffCan = False else: ret.radarOffCan = True PidKp = int(params.get('PidKp')) * 0.01 PidKi = int(params.get('PidKi')) * 0.001 PidKf = int(params.get('PidKf')) * 0.00001 OuterLoopGain = int(params.get('OuterLoopGain')) * 0.1 InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1 TimeConstant = int(params.get('TimeConstant')) * 0.1 ActuatorEffectiveness = int(params.get('ActuatorEffectiveness')) * 0.1 Scale = int(params.get('Scale')) * 1.0 LqrKi = int(params.get('LqrKi')) * 0.001 DcGain = int(params.get('DcGain')) * 0.000001 # Most Hyundai car ports are community features for now ret.communityFeature = False tire_stiffness_factor = int(params.get('TireStiffnessFactorAdj')) * 0.01 ret.steerActuatorDelay = int(params.get('SteerActuatorDelayAdj')) * 0.001 ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.001 ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.1 ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1 if int(params.get('LateralControlMethod')) == 0: if candidate == CAR.SANTAFE: ret.lateralTuning.pid.kf = PidKf ret.mass = 1830. + STD_CARGO_KG ret.wheelbase = 2.765 # Values from optimizer ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.SORENTO: ret.lateralTuning.pid.kf = PidKf ret.mass = 1950. + STD_CARGO_KG ret.wheelbase = 2.78 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.GENESIS: ret.lateralTuning.pid.kf = PidKf ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] #g90 값 입력 elif candidate == CAR.GENESIS_G90: ret.lateralTuning.pid.kf = PidKf ret.mass = 2290. + STD_CARGO_KG ret.wheelbase = 3.45 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] #g90값 입력 종료 elif candidate in [CAR.K5, CAR.SONATA]: ret.lateralTuning.pid.kf = PidKf ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.80 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.SONATA_TURBO: ret.lateralTuning.pid.kf = PidKf ret.mass = 1565. + STD_CARGO_KG ret.wheelbase = 2.80 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]: ret.lateralTuning.pid.kf = PidKf ret.mass = 1595. + STD_CARGO_KG ret.wheelbase = 2.80 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate in [CAR.GRANDEUR, CAR.K7]: ret.lateralTuning.pid.kf = PidKf ret.mass = 1570. + STD_CARGO_KG ret.wheelbase = 2.885 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]: ret.lateralTuning.pid.kf = PidKf ret.mass = 1675. + STD_CARGO_KG ret.wheelbase = 2.885 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.STINGER: ret.lateralTuning.pid.kf = PidKf ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = PidKf ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.KONA_HEV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.NIRO_HEV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.NIRO_EV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.IONIQ_HEV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.IONIQ_EV: ret.lateralTuning.pid.kf = PidKf ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.NEXO: ret.lateralTuning.pid.kf = PidKf ret.mass = 1885. + STD_CARGO_KG ret.wheelbase = 2.79 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.MOHAVE: ret.lateralTuning.pid.kf = PidKf ret.mass = 2250. + STD_CARGO_KG ret.wheelbase = 2.895 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.I30: ret.lateralTuning.pid.kf = PidKf ret.mass = 1380. + STD_CARGO_KG ret.wheelbase = 2.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.AVANTE: ret.lateralTuning.pid.kf = PidKf ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.SELTOS: ret.lateralTuning.pid.kf = PidKf ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.63 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = PidKf ret.mass = 1955. + STD_CARGO_KG ret.wheelbase = 2.90 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[PidKp], [PidKi]] elif int(params.get('LateralControlMethod')) == 1: if candidate == CAR.SANTAFE: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1830. + STD_CARGO_KG ret.wheelbase = 2.765 elif candidate == CAR.SORENTO: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1950. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate == CAR.GENESIS: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 #g90 값 입력 elif candidate == CAR.GENESIS_G90: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 2290. + STD_CARGO_KG ret.wheelbase = 3.45 #g90 값 입력 종료 elif candidate in [CAR.K5, CAR.SONATA]: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate == CAR.SONATA_TURBO: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1565. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1595. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate in [CAR.GRANDEUR, CAR.K7]: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1570. + STD_CARGO_KG ret.wheelbase = 2.885 elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1675. + STD_CARGO_KG ret.wheelbase = 2.885 elif candidate == CAR.STINGER: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate == CAR.KONA: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.KONA_HEV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.KONA_EV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.NIRO_HEV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.NIRO_EV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.IONIQ_HEV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.IONIQ_EV: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 elif candidate == CAR.NEXO: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1885. + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.MOHAVE: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 2250. + STD_CARGO_KG ret.wheelbase = 2.895 elif candidate == CAR.I30: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1380. + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.AVANTE: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.SELTOS: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.63 elif candidate == CAR.PALISADE: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGain = InnerLoopGain ret.lateralTuning.indi.outerLoopGain = OuterLoopGain ret.lateralTuning.indi.timeConstant = TimeConstant ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness ret.mass = 1955. + STD_CARGO_KG ret.wheelbase = 2.90 elif int(params.get('LateralControlMethod')) == 2: if candidate == CAR.SANTAFE: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1830. + STD_CARGO_KG ret.wheelbase = 2.765 elif candidate == CAR.SORENTO: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1950. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate == CAR.GENESIS: ret.mass = 1980. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 15.0 ret.steerActuatorDelay = 0.3 ret.steerRateCost = 0.55 ret.steerLimitTimer = 2.5 #lqr 조향 시작 ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1950.0 ret.lateralTuning.lqr.ki = 0.005 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = 0.00288 #lqr 조향 종료 #g90 값 입력 elif candidate == CAR.GENESIS_G90: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1680 #Scale ret.lateralTuning.lqr.ki = 0.01 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255] ret.lateralTuning.lqr.l = [0.3233671, 0.3185757] ret.lateralTuning.lqr.dcGain = 0.002858 #0.002237852961363602 ret.mass = 2290. + STD_CARGO_KG ret.wheelbase = 3.45 ret.steerLimitTimer = 2.5 #int(params.get('SteerLimitTimerAdj')) * 0.1 ret.steerRatio = 13.0 #int(params.get('SteerRatioAdj')) * 0.1 ret.steerActuatorDelay = 0.2 #int(params.get('SteerActuatorDelayAdj')) * 0.001 ret.steerRateCost = 0.55 #int(params.get('SteerRateCostAdj')) * 0.001 #g90 값 입력 elif candidate in [CAR.K5, CAR.SONATA]: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate == CAR.SONATA_TURBO: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1565. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1595. + STD_CARGO_KG ret.wheelbase = 2.80 elif candidate in [CAR.GRANDEUR, CAR.K7]: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1570. + STD_CARGO_KG ret.wheelbase = 2.885 elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1675. + STD_CARGO_KG ret.wheelbase = 2.885 elif candidate == CAR.STINGER: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 elif candidate == CAR.KONA: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.KONA_HEV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.KONA_EV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 elif candidate == CAR.NIRO_HEV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.NIRO_EV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.IONIQ_HEV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.IONIQ_EV: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 elif candidate == CAR.NEXO: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1885. + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.MOHAVE: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 2250. + STD_CARGO_KG ret.wheelbase = 2.895 elif candidate == CAR.I30: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1380. + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.AVANTE: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 elif candidate == CAR.SELTOS: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.63 elif candidate == CAR.PALISADE: ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = Scale ret.lateralTuning.lqr.ki = LqrKi ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-100., 450.] ret.lateralTuning.lqr.l = [0.22, 0.318] ret.lateralTuning.lqr.dcGain = DcGain ret.mass = 1955. + STD_CARGO_KG ret.wheelbase = 2.90 # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [CAR.GENESIS, CAR.IONIQ_EV, CAR.IONIQ_HEV, CAR.KONA_EV]: ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay # ignore CAN2 address if L-CAN on the same BUS ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # MDPS12 ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[1] else 0 # SAS11 ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] else 2 if 1056 in fingerprint[2] else -1 # SCC11 return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) # VW port is a community feature, since we don't own one to test ret.communityFeature = True if candidate == CAR.GOLF: # Set common MQB parameters that will apply globally ret.carName = "volkswagen" ret.radarOffCan = True ret.safetyModel = car.CarParams.SafetyModel.volkswagen # Additional common MQB parameters that may be overridden per-vehicle ret.steerRateCost = 0.5 ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here ret.steerLimitTimer = 0.4 # As a starting point for speed-adjusted lateral tuning, use the example # map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear # whether the driver assist map breakpoints have any direct bearing on # HCA assist torque, but if they're good breakpoints for the driver, # they're probably good breakpoints for HCA as well. OP won't be driving # 250kph/155mph but it provides interpolation scaling above 100kmh/62mph. ret.lateralTuning.pid.kpBP = [ 0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS ] ret.lateralTuning.pid.kiBP = [ 0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS ] # FIXME: Per-vehicle parameters need to be reintegrated. # For the time being, per-vehicle stuff is being archived since we # can't auto-detect very well yet. Now that tuning is figured out, # averaged params should work reasonably on a range of cars. Owners # can tweak here, as needed, until we have car type auto-detection. # Set common MQB parameters that will apply globally ret.carName = "volkswagen" ret.radarOffCan = True ret.safetyModel = car.CarParams.SafetyModel.volkswagen # Additional common MQB parameters that may be overridden per-vehicle ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here ret.steerLimitTimer = 0.4 ret.steerMaxBP = [0.] # m/s ret.steerMaxV = [1.] # ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS] # ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS] # ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60] # ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05] ret.steerRatio = 15.6 ret.steerRatioRear = 0. ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kfBP = [0.] ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] ret.lateralTuning.pid.kfV = [0.00006] ret.enableCamera = True # Stock camera detection doesn't apply to VW ret.transmissionType = car.CarParams.TransmissionType.automatic # ret.enableCruise = True # Stock ACC still controls acceleration and braking # ret.openpilotLongitudinalControl = False # ret.steerControlType = car.CarParams.SteerControlType.torque # Define default values across the MQB range, # redefined per model bellow. # Commented our for now as we don't allow unknown models for now. # ret.mass = 1500 + STD_CARGO_KG # ret.wheelbase = 2.64 # tire_stiffness_factor = 1.0 # Refine parameters for each vehicle. if candidate == CAR.GOLF: ret.mass = 1500 + STD_CARGO_KG ret.wheelbase = 2.64 tire_stiffness_factor = 1.0 elif candidate == CAR.VW_TOURAN: ret.mass = 1650 + STD_CARGO_KG ret.wheelbase = 2.79 tire_stiffness_factor = 0.8 elif candidate == CAR.SKODA_SUPERB_B8: ret.mass = 1700 + STD_CARGO_KG ret.wheelbase = 2.85 tire_stiffness_factor = 0.8 elif candidate == CAR.VW_ATLAS: ret.mass = 1950 + STD_CARGO_KG ret.wheelbase = 2.98 tire_stiffness_factor = 0.8 # Not sure if I should simply exit or raise an error else: raise ValueError("Unsupported car %s" % candidate) ret.centerToFront = ret.wheelbase * 0.45 # 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 = "honda" if candidate in HONDA_BOSCH: ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe rdr_bus = 0 if has_relay else 2 ret.enableCamera = is_ecu_disconnected( fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay ret.radarOffCan = True ret.openpilotLongitudinalControl = False else: ret.safetyModel = car.CarParams.SafetyModel.hondaNidec ret.enableCamera = is_ecu_disconnected( fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.openpilotLongitudinalControl = ret.enableCamera cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera) cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor) ret.enableCruise = not ret.enableGasInterceptor ret.communityFeature = ret.enableGasInterceptor # Certain Hondas have an extra steering sensor at the bottom of the steering rack, # which improves controls quality as it removes the steering column torsion from feedback. # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward eps_modified = False for fw in car_fw: if fw.ecu == "eps" and b"," in fw.fwVersion: eps_modified = True if candidate == CAR.CIVIC: stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT ret.steerRatio = 15.38 # 10.93 is end-to-end spec if eps_modified: # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180 # stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108 # modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480 # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560, 8000 ], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560 ], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.54, 0.36] elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL): stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 1. ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): stop_and_go = True if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.8467 ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] else: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: stop_and_go = False ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.37 ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 3840], [0, 3840] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate in (CAR.CRV, CAR.CRV_EU): stop_and_go = False ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.62 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.89 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 1000], [0, 1000] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.CRV_5G: stop_and_go = True ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end if eps_modified: # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 2560, 10000 ], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[ 0, 3840 ], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.64 ], [0.192]] tire_stiffness_factor = 0.677 ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.CRV_HYBRID: stop_and_go = True ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.FIT: stop_and_go = False ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.53 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.HRV: stop_and_go = False ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ACURA_RDX: stop_and_go = False ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.68 ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 1000], [0, 1000] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ACURA_RDX_3G: stop_and_go = True ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] tire_stiffness_factor = 0.677 ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ODYSSEY: stop_and_go = False ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ODYSSEY_CHN: stop_and_go = False ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.90 ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY ret.steerRatio = 14.35 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 32767], [0, 32767] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate in (CAR.PILOT, CAR.PILOT_2019): stop_and_go = False ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight ret.wheelbase = 2.82 ret.centerToFront = ret.wheelbase * 0.428 ret.steerRatio = 17.25 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.RIDGELINE: stop_and_go = False ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.18 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.INSIGHT: stop_and_go = True ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [ [0, 4096], [0, 4096] ] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] else: raise ValueError("unsupported car %s" % candidate) # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc ret.minEnableSpeed = -1. if ( stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.gasMaxBP = [0.] # m/s ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [ 0. ] # max gas allowed ret.brakeMaxBP = [5., 20.] # m/s ret.brakeMaxV = [1., 0.8] # max brake allowed ret.stoppingControl = True ret.startAccel = 0.5 ret.steerActuatorDelay = 0.1 ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.8 return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "honda" if candidate in HONDA_BOSCH: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarOffCan = True if candidate not in HONDA_BOSCH_RADARLESS: # Disable the radar and let openpilot control longitudinal # WARNING: THIS DISABLES AEB! ret.openpilotLongitudinalControl = disable_radar ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.openpilotLongitudinalControl = True ret.pcmCruise = not ret.enableGasInterceptor if candidate == CAR.CRV_5G: ret.enableBsm = 0x12f8bfa7 in fingerprint[0] # Detect Bosch cars with new HUD msgs if any(0x33DA in f for f in fingerprint.values()): ret.flags |= HondaFlags.BOSCH_EXT_HUD.value # Accord 1.5T CVT has different gearbox message if candidate == CAR.ACCORD and 0x191 in fingerprint[1]: ret.transmissionType = TransmissionType.cvt # Certain Hondas have an extra steering sensor at the bottom of the steering rack, # which improves controls quality as it removes the steering column torsion from feedback. # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward if candidate in HONDA_BOSCH: ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelayUpperBound = 0.5 # s else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.12] eps_modified = False for fw in car_fw: if fw.ecu == "eps" and b"," in fw.fwVersion: eps_modified = True if candidate == CAR.CIVIC: ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT ret.steerRatio = 15.38 # 10.93 is end-to-end spec if eps_modified: # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180 # stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108 # modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480 # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] tire_stiffness_factor = 1. elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 1. ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.8467 if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] else: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.37 ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.62 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.89 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_5G: ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end if eps_modified: # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] tire_stiffness_factor = 0.677 ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.53 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.74 # the remaining parameters were copied from FIT ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.HRV: ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.ACURA_RDX: ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.68 ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec tire_stiffness_factor = 0.444 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 elif candidate == CAR.ODYSSEY: ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.90 ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY ret.steerRatio = 14.35 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate in (CAR.PILOT, CAR.PASSPORT): ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight ret.wheelbase = 2.82 ret.centerToFront = ret.wheelbase * 0.428 ret.steerRatio = 17.25 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.18 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.5 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 16.71 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning else: raise ValueError(f"unsupported car {candidate}") # These cars use alternate user brake msg (0x1BE) if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG if candidate in HONDA_BOSCH_RADARLESS: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) # 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 cloudlog.warning("Detected network location: %s", ret.networkLocation) cloudlog.warning("Detected transmission type: %s", ret.transmissionType) # 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 # 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=None): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "subaru" ret.radarOffCan = True 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 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]] # 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=[]): global ATOMC ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = False #False(선행차우선) #True(차선우선) #선행차량 인식 마크 유무. ret.radarOffCan = bool(params.get('OpkrTraceSet') != b'1') ret.lateralsRatom.learnerParams = int(params.get('OpkrEnableLearner')) # Hyundai port is a community feature for now ret.communityFeature = False #True ret.longcontrolEnabled = False """ 0.7.5 ret.steerActuatorDelay = 0.1 # Default delay 0.1 ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1 """ """ 0.7.3 ret.steerActuatorDelay = 0.10 # Default delay 0.15 ret.steerRateCost = 0.45 ret.steerLimitTimer = 0.8 tire_stiffness_factor = 0.7 """ tire_stiffness_factor = 1. ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 if candidate == CAR.SANTAFE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1830. + STD_CARGO_KG ret.wheelbase = 2.765 # Values from optimizer ret.steerRatio = 13.8 # 13.8 is spec end-to-end ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1950. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate in [CAR.K5, CAR.SONATA]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.80 ret.steerRatio = 12.75 ret.steerRateCost = 0.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_TURBO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1565. + STD_CARGO_KG ret.wheelbase = 2.80 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.K5_HEV, CAR.SONATA_HEV]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1595. + STD_CARGO_KG ret.wheelbase = 2.80 ret.steerRatio = 12.75 ret.steerRateCost = 0.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.GRANDEUR, CAR.K7]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1570. + STD_CARGO_KG ret.wheelbase = 2.885 ret.steerRatio = 12.5 ret.steerRateCost = 0.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1675. + STD_CARGO_KG ret.wheelbase = 2.885 ret.steerRatio = 12.5 ret.steerRateCost = 0.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.5 #Spec ret.steerRateCost = 0.4 tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA_HEV: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.5 #Spec ret.steerRateCost = 0.4 tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KONA_EV: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1330. + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.5 #Spec ret.steerRateCost = 0.4 tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.NIRO_HEV: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.NIRO_EV: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1425. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ_HEV: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.IONIQ_EV: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1490. + STD_CARGO_KG #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.25 #Spec ret.steerRateCost = 0.4 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.NEXO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1885. + STD_CARGO_KG ret.wheelbase = 2.79 ret.steerRatio = 12.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.MOHAVE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2250. + STD_CARGO_KG ret.wheelbase = 2.895 ret.steerRatio = 14.1 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.I30: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1380. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.AVANTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.5 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SELTOS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1470. + STD_CARGO_KG ret.wheelbase = 2.63 ret.steerRatio = 13.0 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1955. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 13.0 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # 3번 atom param. ret.lateralPIDatom.sRKPHV = [9., 17.] # 속도. 32~61 ret.lateralPIDatom.sRkBPV = ATOMC.sR_BPV # 조향각. ret.lateralPIDatom.sRBoostV = ATOMC.sR_BoostV ret.lateralPIDatom.sRkpV1 = ATOMC.sR_kpV1 ret.lateralPIDatom.sRkiV1 = ATOMC.sR_kiV1 ret.lateralPIDatom.sRkdV1 = ATOMC.sR_kdV1 ret.lateralPIDatom.sRkfV1 = ATOMC.sR_kfV1 ret.lateralPIDatom.sRkpV2 = ATOMC.sR_kpV2 ret.lateralPIDatom.sRkiV2 = ATOMC.sR_kiV2 ret.lateralPIDatom.sRkdV2 = ATOMC.sR_kdV2 ret.lateralPIDatom.sRkfV2 = ATOMC.sR_kfV2 ret.lateralCVatom.cvBPV = ATOMC.cvBPV ret.lateralCVatom.cvSteerMaxV1 = ATOMC.cvSteerMaxV1 ret.lateralCVatom.cvSteerDeltaUpV1 = ATOMC.cvSteerDeltaUpV1 ret.lateralCVatom.cvSteerDeltaDnV1 = ATOMC.cvSteerDeltaDnV1 ret.lateralCVatom.cvSteerMaxV2 = ATOMC.cvSteerMaxV2 ret.lateralCVatom.cvSteerDeltaUpV2 = ATOMC.cvSteerDeltaUpV2 ret.lateralCVatom.cvSteerDeltaDnV2 = ATOMC.cvSteerDeltaDnV2 ret.lateralsRatom.deadzone = ATOMC.deadzone ret.lateralsRatom.steerOffset = ATOMC.steerOffset ret.lateralsRatom.tireStiffnessFactor = ATOMC.tire_stiffness_factor ret.steerRatio = ATOMC.steerRatio #10.5 #12.5 ret.steerRateCost = ATOMC.steerRateCost #0.4 #0.4 ret.steerActuatorDelay = ATOMC.steerActuatorDelay ret.steerLimitTimer = ATOMC.steerLimitTimer tire_stiffness_factor = ATOMC.tire_stiffness_factor ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay # ignore CAN2 address if L-CAN on the same BUS ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[ 1] else 0 ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \ else 2 if 1056 in fingerprint[2] else -1 ret.openpilotLongitudinalControl = False return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mazda" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.mazda) ] ret.radarOffCan = True ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) ret.steerActuatorDelay = 0.1 ret.steerRateCost = 1.0 ret.steerLimitTimer = 0.8 tire_stiffness_factor = 0.70 # not optimized yet if candidate in (CAR.CX5, CAR.CX5_2022): ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate in (CAR.CX9, CAR.CX9_2021): ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.1 ret.steerRatio = 17.6 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA3: ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 14.0 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA6: ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] ret.lateralTuning.pid.kf = 0.00006 if candidate not in (CAR.CX5_2022, ): ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS ret.centerToFront = ret.wheelbase * 0.41 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "hyundai" ret.safetyModel = car.CarParams.SafetyModel.hyundai ret.radarOffCan = True # Most Hyundai car ports are community features for now ret.communityFeature = candidate not in [CAR.SONATA, 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 in [CAR.SONATA, CAR.SONATA_HYBRID]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.ELANTRA_HEV_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [3.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [2.0] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = { CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425. }.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.73 * 1.15 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in [ CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV ]: 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, CAR.KIA_NIRO_HEV_2021 ]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_HEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: ret.mass = 1337. + STD_CARGO_KG ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [4.] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Genesis elif candidate == CAR.GENESIS_G70: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [2.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.5] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G80: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [ CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.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] 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 = "gm" 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.enableGasInterceptor = 0x201 in fingerprint[0] ret.openpilotLongitudinalControl = ret.enableGasInterceptor tire_stiffness_factor = 0.5 ret.minSteerSpeed = 10 * CV.KPH_TO_MS ret.steerRateCost = 0.3625 # def : 2.0 ret.steerActuatorDelay = 0.1925 # def: 0.2 Default delay, not measured yet ret.minEnableSpeed = -1 ret.mass = 1625. + STD_CARGO_KG ret.safetyModel = car.CarParams.SafetyModel.gm ret.wheelbase = 2.60096 ret.steerRatio = 16.8 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.49 # wild guess ret.lateralTuning.init('lqr') ret.lateralTuning.lqr.scale = 1975.0 ret.lateralTuning.lqr.ki = 0.032 ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] ret.lateralTuning.lqr.c = [1., 0.] ret.lateralTuning.lqr.k = [-110., 451.] ret.lateralTuning.lqr.l = [0.33, 0.318] ret.lateralTuning.lqr.dcGain = 0.00225 # 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 = [0.0, 35.0] ret.longitudinalTuning.kpV = [0.5, 0.4] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.18, 0.2] if ret.enableGasInterceptor: ret.gasMaxBP = [0.0, 5.0, 9.0, 35.0] ret.gasMaxV = [0.4, 0.5, 0.7, 0.7] ret.stoppingControl = False ret.startAccel = 0.4 ret.steerLimitTimer = 1.5 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay) ret.carName = "gm" ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm ret.enableCruise = False # stock cruise control is kept off # GM port is considered a community feature, since it disables AEB; # TODO: make a port that uses a car harness and it only intercepts the camera ret.communityFeature = True # Presence of a camera on the object bus is ok. # Have to go to read_only if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay ret.openpilotLongitudinalControl = ret.enableCamera tire_stiffness_factor = 0.444 # not optimized yet # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below. ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerRateCost = 1.0 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet if candidate == CAR.VOLT: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 15.7 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.MALIBU: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1496. + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: ret.mass = 1363. + STD_CARGO_KG ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.steerRatio = 15.7 ret.steerRatioRear = 0. elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 #end to end is 13.46 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 elif candidate == CAR.BUICK_REGAL: ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 #111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.49 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.longitudinalTuning.kpBP = [5., 35.] ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] ret.stoppingControl = True ret.startAccel = 0.8 ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz return ret
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "hyundai" ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.hyundai, 0) ] ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ ret.carFingerprint]["radar"] is None # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) ret.openpilotLongitudinalControl = disable_radar and ( candidate not in LEGACY_SAFETY_MODE_CAR) ret.pcmCruise = not ret.openpilotLongitudinalControl # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30 } or candidate in HDA2_CAR ret.steerActuatorDelay = 0.1 # Default delay ret.steerRateCost = 0.5 ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. ret.stoppingControl = True ret.vEgoStopping = 1.0 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] ret.stopAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 1.0 # s if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[ 9., 22. ], [9., 22.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[ 0.2, 0.35 ], [0.05, 0.09]] elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.ELANTRA_HEV_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [3.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [2.0] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): ret.lateralTuning.pid.kf = 0.00005 ret.mass = { CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425. }.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.IONIQ_PHEV_2019: ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs ret.wheelbase = 2.7 ret.steerRatio = 13.73 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [2.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.5] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON_DIESEL_2019: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3633. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] # Kia elif candidate == CAR.KIA_SORENTO: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_HEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: ret.mass = 1337. + STD_CARGO_KG ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [4.] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_K5_2021: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3228. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: ret.mass = 2055 + STD_CARGO_KG ret.wheelbase = 2.9 ret.steerRatio = 16. ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2) ] tire_stiffness_factor = 0.65 max_lat_accel = 2. set_torque_tune(ret.lateralTuning, max_lat_accel, 0.01) # Genesis elif candidate == CAR.GENESIS_G70: ret.lateralTuning.init('indi') ret.lateralTuning.indi.innerLoopGainBP = [0.] ret.lateralTuning.indi.innerLoopGainV = [2.5] ret.lateralTuning.indi.outerLoopGainBP = [0.] ret.lateralTuning.indi.outerLoopGainV = [3.5] ret.lateralTuning.indi.timeConstantBP = [0.] ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G70_2020: ret.lateralTuning.pid.kf = 0. ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]] ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_G80: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in LEGACY_SAFETY_MODE_CAR: ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy) ] # set appropriate safety param for gas signal if candidate in HYBRID_CAR: ret.safetyConfigs[0].safetyParam = 2 elif candidate in EV_CAR: ret.safetyConfigs[0].safetyParam = 1 ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness( ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x58b in fingerprint[0] if ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG return ret