示例#1
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
                                              has_relay)

        ret.carName = "toyota"
        ret.safetyModel = car.CarParams.SafetyModel.toyota

        ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
        ret.steerLimitTimer = 0.4

        if ret.enableGasInterceptor:
            ret.gasMaxBP = [0., 9., 55]
            ret.gasMaxV = [0.2, 0.5, 0.7]
            # ret.longitudinalTuning.kpV = [0.5, 0.4, 0.3]  # braking tune, todo: test me vs. stock below
            # ret.longitudinalTuning.kiV = [0.135, 0.1]
            ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
            ret.longitudinalTuning.kiV = [0.18, 0.12]
        else:
            ret.gasMaxBP = [0., 9., 55]
            ret.gasMaxV = [0.2, 0.5, 0.7]
            ret.longitudinalTuning.kpV = [0.4, 0.36,
                                          0.325]  # braking tune from rav4h
            ret.longitudinalTuning.kiV = [0.195, 0.10]

        if candidate not in [
                CAR.PRIUS_2019, CAR.PRIUS, CAR.RAV4, CAR.RAV4H, CAR.COROLLA
        ]:  # These cars use LQR/INDI
            ret.lateralTuning.init('pid')
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [
                [0.], [0.], [0.]
            ]

        if candidate in [CAR.PRIUS, CAR.PRIUS_2019]:
            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.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 = 0.06

            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 in [CAR.RAV4]:
            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 = 0.06
            ret.longitudinalTuning.kpV = [0.8, 1.0, 0.325]  # braking tune
            ret.longitudinalTuning.kiV = [0.35, 0.1]
            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 in [CAR.COROLLA, CAR.COROLLA_2015]:
            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.init('lqr')

            ret.lateralTuning.lqr.scale = 1500.0
            ret.lateralTuning.lqr.ki = 0.06

            ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            ret.lateralTuning.lqr.c = [1., 0.]
            ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
            ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
            ret.lateralTuning.lqr.dcGain = 0.002237852961363602

        elif candidate == CAR.LEXUS_RX:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 14.8
            tire_stiffness_factor = 0.5533
            ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.05]]
            ret.lateralTuning.pid.kfV = [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.kfV = [
                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.kfV = [0.00007818594]

        elif candidate == CAR.LEXUS_RXH_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 16.0  # 14.8 is spec end-to-end
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.15]]
            ret.lateralTuning.pid.kfV = [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.kfV = [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.kfV = [0.00006]

        elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
            ret.steerRatio = 16.0
            tire_stiffness_factor = 0.8
            ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.18
            ], [0.015]]  # community tuning
            ret.lateralTuning.pid.kfV = [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.kfV = [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.kfV = [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.longitudinalTuning.kpV = [2.65, 1.5, 0.34]
            ret.longitudinalTuning.kiV = [0.54, 0.34]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13],
                                                                    [0.05]]
            ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kfV = [0.00007818594]
            for fw in car_fw:
                if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
                    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                        0.6
                    ], [0.1]]
                    ret.lateralTuning.pid.kfV = [0.00007818594]
                    break

        elif candidate == CAR.RAV4H_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.68986
            ret.steerRatio = 14.3
            tire_stiffness_factor = 0.7933
            ret.longitudinalTuning.kpV = [0.2, 0.25, 0.325]
            ret.longitudinalTuning.kiV = [0.10, 0.10]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.12],
                                                                    [0.04]]
            ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kfV = [0.00004]
            for fw in car_fw:
                if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
                    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                        0.6
                    ], [0.1]]
                    ret.lateralTuning.pid.kfV = [0.00007818594]
                    break

        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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.5],
                                                                    [0.1]]
            ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kfV = [0.00007818594]
            if spairrowtuning:
                ret.steerActuatorDelay = 0.60
                ret.steerRatio = 15.33
                ret.steerLimitTimer = 5.0
                tire_stiffness_factor = 0.996  # not optimized yet
                #ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0.0, 15.5, 21.0, 29.0], [0.13, 0.39, 0.39, 0.6]]
                #ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0.0, 15.5, 21.0, 29.0], [0.005, 0.015, 0.015, 0.1]]
                #ret.lateralTuning.pid.kfBP, ret.lateralTuning.pid.kfV = [[0.0, 15.5, 21.0, 29.0], [0.00009, 0.00015, 0.00015, 0.00007818594]]
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGain = 6
                ret.lateralTuning.indi.outerLoopGain = 15.0
                ret.lateralTuning.indi.timeConstant = 5.5
                ret.lateralTuning.indi.actuatorEffectiveness = 6.0

        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.kfV = [0.00007818594]

        elif candidate == CAR.SIENNA:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 3.03
            ret.steerRatio = 15.5
            tire_stiffness_factor = 0.444
            ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
                                                                    [0.02]]
            ret.lateralTuning.pid.kfV = [0.00007818594]

        elif candidate in [CAR.LEXUS_IS, CAR.LEXUS_ISH, CAR.LEXUS_RX]:
            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.kfV = [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.kfV = [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.kfV = [0.00006]

        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.kfV = [0.00006]

        elif candidate == CAR.LEXUS_UXH_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.640
            ret.steerRatio = 16.0  # not optimized
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kfV = [0.00007]

        ret.steerRateCost = 1.
        ret.centerToFront = ret.wheelbase * 0.44

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)
        if candidate == CAR.COROLLA_2015:
            ret.enableCamera = True
        else:
            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., 55.]
        ret.longitudinalTuning.kiBP = [0., 55.]

        return ret
示例#2
0
    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, CAR.PALISADE]

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.4
        tire_stiffness_factor = 1.

        ret.maxSteerAngle = 90.

        eps_modified = False
        for fw in car_fw:
            if fw.ecu == "eps" and b"," in fw.fwVersion:
                eps_modified = True

        if candidate == CAR.SANTA_FE:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.766
            # Values from optimizer
            ret.steerRatio = 16.55  # 13.8 is spec end-to-end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                9., 22.
            ], [9., 22.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.2, 0.35
            ], [0.05, 0.09]]
        elif candidate == CAR.SONATA:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1513. + STD_CARGO_KG
            ret.wheelbase = 2.84
            ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
            tire_stiffness_factor = 0.65
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.SONATA_2019:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 4497. * CV.LB_TO_KG
            ret.wheelbase = 2.804
            ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.PALISADE:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1999. + STD_CARGO_KG
            ret.wheelbase = 2.90
            ret.steerRatio = 13.75 * 1.15
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                    [0.05]]
            if eps_modified:
                ret.maxSteerAngle = 1000.
        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.init('indi')
            ret.lateralTuning.indi.innerLoopGainBP = [0.]
            ret.lateralTuning.indi.innerLoopGainV = [3.5]
            ret.lateralTuning.indi.outerLoopGainBP = [0.]
            ret.lateralTuning.indi.outerLoopGainV = [2.0]
            ret.lateralTuning.indi.timeConstantBP = [0.]
            ret.lateralTuning.indi.timeConstantV = [1.4]
            ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
            ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
            ret.minSteerSpeed = 60 * CV.KPH_TO_MS
        elif candidate == CAR.KONA:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73 * 1.15  # Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.KONA_EV:
            ret.lateralTuning.pid.kf = 0.00006
            ret.mass = 1685. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73  # Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020]:
            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 != CAR.IONIQ_EV_2020:
                ret.minSteerSpeed = 32 * CV.MPH_TO_MS
        elif candidate == CAR.VELOSTER:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75 * 1.15
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]

        # Kia
        elif candidate == CAR.KIA_SORENTO:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1985. + STD_CARGO_KG
            ret.wheelbase = 2.78
            ret.steerRatio = 14.4 * 1.1  # 10% higher at the center seems reasonable
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.KIA_NIRO_EV:
            ret.lateralTuning.pid.kf = 0.00006
            ret.mass = 1737. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73  # Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.KIA_STINGER:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1825. + STD_CARGO_KG
            ret.wheelbase = 2.78
            ret.steerRatio = 14.4 * 1.15  # 15% higher at the center seems reasonable
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]

        elif candidate == CAR.KIA_FORTE:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]

        # Genesis
        elif candidate == CAR.GENESIS_G70:
            ret.lateralTuning.init('indi')
            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, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
                CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
                CAR.GENESIS_G70, CAR.GENESIS_G80
        ]:
            ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               Ecu.fwdCamera) or has_relay

        return ret
示例#3
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None,
                   disable_radar=False):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        ret.carName = "subaru"
        ret.radarOffCan = True

        if candidate in PREGLOBAL_CARS:
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.subaruLegacy)
            ]
            ret.enableBsm = 0x25c in fingerprint[0]
        else:
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.subaru)
            ]
            ret.enableBsm = 0x228 in fingerprint[0]

        ret.dashcamOnly = candidate in PREGLOBAL_CARS

        ret.steerLimitTimer = 0.4

        if candidate == CAR.ASCENT:
            ret.mass = 2031. + STD_CARGO_KG
            ret.wheelbase = 2.89
            ret.centerToFront = ret.wheelbase * 0.5
            ret.steerRatio = 13.5
            ret.steerActuatorDelay = 0.3  # end-to-end angle controller
            ret.lateralTuning.pid.kf = 0.00003
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                0., 20.
            ], [0., 20.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.0025, 0.1
            ], [0.00025, 0.01]]

        if candidate == CAR.IMPREZA:
            ret.mass = 1568. + STD_CARGO_KG
            ret.wheelbase = 2.67
            ret.centerToFront = ret.wheelbase * 0.5
            ret.steerRatio = 15
            ret.steerActuatorDelay = 0.4  # end-to-end angle controller
            ret.lateralTuning.pid.kf = 0.00005
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                0., 20.
            ], [0., 20.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3],
                                                                    [
                                                                        0.02,
                                                                        0.03
                                                                    ]]

        if candidate == CAR.IMPREZA_2020:
            ret.mass = 1480. + 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 = 0.00005
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                0., 14., 23.
            ], [0., 14., 23.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.045, 0.042, 0.20
            ], [0.04, 0.035, 0.045]]

        if candidate == CAR.FORESTER:
            ret.mass = 1568. + STD_CARGO_KG
            ret.wheelbase = 2.67
            ret.centerToFront = ret.wheelbase * 0.5
            ret.steerRatio = 17  # learned, 14 stock
            ret.steerActuatorDelay = 0.1
            ret.lateralTuning.pid.kf = 0.000038
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                0., 14., 23.
            ], [0., 14., 23.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.01, 0.065, 0.2
            ], [0.001, 0.015, 0.025]]

        if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
            ret.safetyConfigs[
                0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
            ret.mass = 1568 + STD_CARGO_KG
            ret.wheelbase = 2.67
            ret.centerToFront = ret.wheelbase * 0.5
            ret.steerRatio = 20  # learned, 14 stock
            ret.steerActuatorDelay = 0.1
            ret.lateralTuning.pid.kf = 0.000039
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                0., 10., 20.
            ], [0., 10., 20.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.01, 0.05, 0.2
            ], [0.003, 0.018, 0.025]]

        if candidate == CAR.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
示例#4
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
                                              has_relay)

        ret.carName = "hyundai"
        ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
        if candidate in [CAR.SONATA]:
            ret.safetyModel = car.CarParams.SafetyModel.hyundai

        # Most Hyundai car ports are community features for now
        ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]

        ret.steerActuatorDelay = 0.15  # Default delay 테네시수정
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.8
        tire_stiffness_factor = 1.

        # genesis
        if candidate == CAR.GENESIS:
            ret.lateralTuning.init('lqr')
            ret.mass = 2060. + STD_CARGO_KG
            ret.wheelbase = 3.01
            ret.steerRatio = 14.825
            ret.steerActuatorDelay = 0.15
            ret.steerLimitTimer = 1.3
            ret.steerRateCost = 0.45

            ret.lateralTuning.lqr.scale = 1800.0
            ret.lateralTuning.lqr.ki = 0.01
            ret.lateralTuning.lqr.dcGain = 0.002825
        elif candidate == CAR.GENESIS_G70:
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.84
        elif candidate == CAR.GENESIS_G80:
            ret.mass = 1855. + STD_CARGO_KG
            ret.wheelbase = 3.01
        elif candidate == CAR.GENESIS_G90:
            ret.mass = 2200
            ret.wheelbase = 3.15
        elif candidate == CAR.GENESIS_G90_L:
            ret.mass = 2290
            ret.wheelbase = 3.45
        # hyundai
        elif candidate in [CAR.SANTA_FE]:
            ret.mass = 1694 + STD_CARGO_KG
            ret.wheelbase = 2.766
        elif candidate in [CAR.SONATA, CAR.SONATA_HEV]:
            ret.mass = 1513. + STD_CARGO_KG
            ret.wheelbase = 2.84
            tire_stiffness_factor = 0.65
        elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
            ret.mass = 4497. * CV.LB_TO_KG
            ret.wheelbase = 2.804
        elif candidate == CAR.SONATA_LF_TURBO:
            ret.mass = 1590. + STD_CARGO_KG
            ret.wheelbase = 2.805
            tire_stiffness_factor = 0.65
        elif candidate == CAR.PALISADE:
            ret.mass = 1999. + STD_CARGO_KG
            ret.wheelbase = 2.90
        elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.385  # stiffnessFactor settled on 1.0081302973865127
        elif candidate == CAR.KONA:
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.385
        elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
            ret.lateralTuning.init('lqr')
            ret.mass = 1685. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 12.2
            ret.steerActuatorDelay = 0.15
            ret.steerLimitTimer = 1.3
            ret.steerRateCost = 0.55

            ret.lateralTuning.lqr.scale = 1800.0
            ret.lateralTuning.lqr.ki = 0.01
            ret.lateralTuning.lqr.dcGain = 0.002825
        elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD]:
            ret.mass = 1490. + STD_CARGO_KG  #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.385
        elif candidate in [CAR.GRANDEUR, CAR.GRANDEUR_HEV]:
            tire_stiffness_factor = 0.8
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.845
        elif candidate == CAR.VELOSTER:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.5
        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
            tire_stiffness_factor = 0.5
        elif candidate in [CAR.K5, CAR.K5_HEV]:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.5
        elif candidate == CAR.STINGER:
            tire_stiffness_factor = 1.125  # LiveParameters (Tunder's 2020)
            ret.mass = 1825.0 + STD_CARGO_KG
            ret.wheelbase = 2.906  # https://www.kia.com/us/en/stinger/specs
        elif candidate == CAR.FORTE:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.5
        elif candidate == CAR.CEED:
            ret.mass = 1350. + STD_CARGO_KG
            ret.wheelbase = 2.65
            tire_stiffness_factor = 0.5
        elif candidate == CAR.SPORTAGE:
            ret.mass = 1985. + STD_CARGO_KG
            ret.wheelbase = 2.78
        elif candidate in [CAR.NIRO_HEV, CAR.NIRO_EV]:
            ret.lateralTuning.init('lqr')
            ret.mass = 1685. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 12.2
            ret.steerActuatorDelay = 0.15
            ret.steerLimitTimer = 1.3
            ret.steerRateCost = 0.55

            ret.lateralTuning.lqr.scale = 1800.0
            ret.lateralTuning.lqr.ki = 0.01
            ret.lateralTuning.lqr.dcGain = 0.002825
        elif candidate in [CAR.K7, CAR.K7_HEV]:
            ret.lateralTuning.init('lqr')
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.845
            ret.steerRatio = 12.2
            ret.steerActuatorDelay = 0.15
            ret.steerLimitTimer = 1.3
            ret.steerRateCost = 0.55

            ret.lateralTuning.lqr.scale = 1800.0
            ret.lateralTuning.lqr.ki = 0.01
            ret.lateralTuning.lqr.dcGain = 0.002825


# 차량별 고유의 셋팅값을 저장하기 위한 기본 조향방법 수치를 변경함..

        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.steerMaxBP = [0.]
        ret.steerMaxV = [1.5]

        ###################################################
        # scc smoother
        ret.longitudinalTuning.kpBP = [
            0., 40. * CV.KPH_TO_MS, 130. * CV.KPH_TO_MS
        ]
        ret.longitudinalTuning.kpV = [1.4, 1.0, 0.4]
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.]
        ret.longitudinalTuning.deadzoneBP = [0., 40]
        ret.longitudinalTuning.deadzoneV = [0., 0.02]

        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [0., 20.]
        ret.brakeMaxV = [1., 0.8]

        ###################################################

        ret.radarTimeStep = 0.05
        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               Ecu.fwdCamera) or has_relay
        ret.stoppingControl = True
        ret.startAccel = 0.0

        # ignore CAN2 address if L-CAN on the same BUS
        ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
                                                                         else 2 if 1056 in fingerprint[2] else -1
        ret.radarOffCan = ret.sccBus == -1
        ret.openpilotLongitudinalControl = Params().get(
            'LongControlEnabled') == b'1'
        ret.enableCruise = not ret.radarOffCan
        ret.spasEnabled = False

        # set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
        if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or Params(
        ).get('MadModeEnabled') == b'1':
            ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
        return ret
示例#5
0
    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

        # Hyundai port is a community feature for now
        ret.communityFeature = 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.SONATA:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1513. + STD_CARGO_KG
            ret.wheelbase = 2.84
            ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
            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.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]]
            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 = 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.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
示例#6
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=True,
                   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.steerRateCost = 0.35
        ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward

        eps_modified = False

        kegman = kegman_conf()
        if int(kegman.conf['epsModded']):
            eps_modified = True

        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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                    [0.24]]

            ret.longitudinalTuning.kpBP = [0., 5., 35.]
            ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
            ret.longitudinalTuning.kiBP = [0., 35.]
            ret.longitudinalTuning.kiV = [0.54, 0.36]

        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
            if eps_modified:
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
                    0, 2564, 8000
                ], [0, 2564, 3840]]
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                    0.4
                ], [0.12]]  # Put your own modded values here
            else:
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                    [0, 4096], [0, 4096]
                ]  # TODO: determine if there is a dead zone at the top end
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                        [0.24]]
            tire_stiffness_factor = 1.
            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 = [[0.3],
                                                                        [0.1]]
            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 = [[0.20],
                                                                    [0.04]]
            # BP values are speeds - 0 m/s, 10 m/s, 35 m/s
            # which is 0 MPH, 22 MPH, and 78 MPH
            ret.longitudinalTuning.kpBP = [0., 10., 35.]
            # These are corresponding Kp values with the above speeds
            ret.longitudinalTuning.kpV = [0.6, 0.4, 0.3]
            ret.longitudinalTuning.kiBP = [0., 35.]
            ret.longitudinalTuning.kiV = [0.18, 0.12]

        elif candidate == CAR.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.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.INSIGHT:
            stop_and_go = True
            ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.centerToFront = ret.wheelbase * 0.39
            ret.steerRatio = 15  # 12.58 is spec end-to-end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.18]]

        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_2018, CAR.PILOT_2019):
            stop_and_go = False
            ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
            ret.wheelbase = 2.82
            ret.steerRatio = 12.5  # Tuned value for 0.6.4 to eliminate wobble
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45],
                                                                    [0.21]]
            ret.centerToFront = ret.wheelbase * 0.428
            ret.steerRatio = 12.5  # 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.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., 3, 8, 35
                        ] if ret.enableGasInterceptor else [0.]  # m/s
        ret.gasMaxV = [0.2, 0.3, 0.5, 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.steerLimitTimer = 0.8

        return ret
示例#7
0
    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 = int(params.get('PidKp')) * 0.01
        PidKi = int(params.get('PidKi')) * 0.001
        PidKf = int(params.get('PidKf')) * 0.00001
        InnerLoopGain = int(params.get('InnerLoopGain')) * 0.1
        OuterLoopGain = int(params.get('OuterLoopGain')) * 0.1
        TimeConstant = int(params.get('TimeConstant')) * 0.1
        ActuatorEffectiveness = int(params.get('ActuatorEffectiveness')) * 0.1
        Scale = int(params.get('Scale')) * 1.0
        LqrKi = int(params.get('LqrKi')) * 0.001
        DcGain = int(params.get('DcGain')) * 0.0001
        LqrSteerMaxV = int(params.get('SteerMaxvAdj')) * 0.1

        # Most Hyundai car ports are community features for now
        ret.communityFeature = False

        tire_stiffness_factor = int(
            params.get('TireStiffnessFactorAdj')) * 0.01
        ret.steerActuatorDelay = int(
            params.get('SteerActuatorDelayAdj')) * 0.01
        ret.steerRateCost = int(params.get('SteerRateCostAdj')) * 0.01
        ret.steerLimitTimer = int(params.get('SteerLimitTimerAdj')) * 0.01
        ret.steerRatio = int(params.get('SteerRatioAdj')) * 0.1

        if candidate == CAR.GENESIS:
            ret.mass = 1900. + STD_CARGO_KG
            ret.wheelbase = 3.01
        elif candidate == CAR.GENESIS_G70:
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.84
        elif candidate == CAR.GENESIS_G80:
            ret.mass = 1855. + STD_CARGO_KG
            ret.wheelbase = 3.01
        elif candidate == CAR.GENESIS_G90:
            ret.mass = 2200
            ret.wheelbase = 3.15
        elif candidate 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

        if int(params.get('LateralControlMethod')) == 0:
            ret.lateralTuning.pid.kf = PidKf
            ret.lateralTuning.pid.kpBP = [0., 9.]
            ret.lateralTuning.pid.kpV = [0.1, PidKp]
            ret.lateralTuning.pid.kiBP = [0., 9.]
            ret.lateralTuning.pid.kiV = [0.01, PidKi]
        elif int(params.get('LateralControlMethod')) == 1:
            ret.lateralTuning.init('indi')
            ret.lateralTuning.indi.innerLoopGain = InnerLoopGain
            ret.lateralTuning.indi.outerLoopGain = OuterLoopGain
            ret.lateralTuning.indi.timeConstant = TimeConstant
            ret.lateralTuning.indi.actuatorEffectiveness = ActuatorEffectiveness
        elif int(params.get('LateralControlMethod')) == 2:
            ret.lateralTuning.init('lqr')
            ret.lateralTuning.lqr.scale = Scale
            ret.lateralTuning.lqr.ki = LqrKi
            ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            ret.lateralTuning.lqr.c = [1., 0.]
            ret.lateralTuning.lqr.k = [-110., 451.]
            ret.lateralTuning.lqr.l = [0.33, 0.318]
            ret.lateralTuning.lqr.dcGain = DcGain
            ret.steerMaxV = [LqrSteerMaxV]
            ret.steerMaxBP = [0.]

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        ret.longitudinalTuning.kpBP = [0., 10., 40.]
        ret.longitudinalTuning.kpV = [1.2, 0.6, 0.2]
        ret.longitudinalTuning.kiBP = [0., 10., 30., 40.]
        ret.longitudinalTuning.kiV = [0.05, 0.02, 0.01, 0.005]
        ret.longitudinalTuning.deadzoneBP = [0., 40]
        ret.longitudinalTuning.deadzoneV = [0., 0.02]

        # steer, gas, brake limitations VS speed

        ret.gasMaxBP = [0., 10., 40.]
        ret.gasMaxV = [0.5, 0.5, 0.5]
        ret.brakeMaxBP = [0., 20.]
        ret.brakeMaxV = [1., 0.8]

        ret.enableCamera = 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
示例#8
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
                                              has_relay)

        ret.carName = "toyota"
        ret.safetyModel = car.CarParams.SafetyModel.toyota

        ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
        ret.steerLimitTimer = 0.4
        ret.steerRateCost = 0.5 if ret.hasZss else 1.0
        ret.hasZss = 0x23 in fingerprint[
            0]  # Detect whether car has accurate ZSS

        CARS_NOT_PID = [CAR.RAV4, CAR.RAV4H]
        if not prius_use_pid:
            CARS_NOT_PID.append(CAR.PRIUS_2020)
            CARS_NOT_PID.append(CAR.PRIUS)

        if candidate not in CARS_NOT_PID and not use_lqr:  # These cars use LQR/INDI
            ret.lateralTuning.init('pid')
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]

        if candidate == CAR.PRIUS:
            stop_and_go = True
            ret.safetyParam = 50  # see conversion factor for STEER_TORQUE_EPS in dbc file
            ret.wheelbase = 2.70
            ret.steerRatio = 13.4  # unknown end-to-end spec
            tire_stiffness_factor = 0.6371  # hand-tune
            ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
            ret.steerActuatorDelay = 0.5

            if prius_use_pid:
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                    0.38
                ], [0.02]]  # todo: parametertize by zss
                ret.lateralTuning.pid.kdV = [0.85]
                ret.lateralTuning.pid.kf = 0.000068  # full torque for 20 deg at 80mph means 0.00007818594
            else:
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGainV = [4.0]
                ret.lateralTuning.indi.outerLoopGainV = [3.0]
                ret.lateralTuning.indi.timeConstantV = [
                    0.1
                ] if ret.hasZss else [1.0]
                ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]

        elif candidate == CAR.PRIUS_2020:
            stop_and_go = True
            ret.safetyParam = 54
            ret.wheelbase = 2.6924
            ret.steerRatio = 13.4  # unknown end-to-end spec
            ret.steerActuatorDelay = 0.54
            tire_stiffness_factor = 0.6371  # hand-tune
            ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG

            if prius_use_pid:
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                    0.21
                ], [0.008]]
                ret.lateralTuning.pid.kdV = [
                    1.
                ]  # corolla D times gain in PI values
                ret.lateralTuning.pid.kf = 0.00009531750004645412
                ret.lateralTuning.pid.newKfTuned = True
            else:
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGainV = [3.84]
                ret.lateralTuning.indi.outerLoopGainV = [3.0]
                ret.lateralTuning.indi.timeConstantV = [
                    0.1
                ] if ret.hasZss else [1.0]
                ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]

        elif candidate in [CAR.RAV4, CAR.RAV4H]:
            stop_and_go = True if (candidate in CAR.RAV4H) else False
            ret.safetyParam = 73
            ret.wheelbase = 2.65
            ret.steerRatio = 16.88  # 14.5 is spec end-to-end
            tire_stiffness_factor = 0.5533
            ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.init('lqr')

            ret.lateralTuning.lqr.scale = 1500.0
            ret.lateralTuning.lqr.ki = 0.05

            ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            ret.lateralTuning.lqr.c = [1., 0.]
            ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
            ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
            ret.lateralTuning.lqr.dcGain = 0.002237852961363602

        elif candidate == CAR.COROLLA:
            stop_and_go = False
            ret.safetyParam = 88
            ret.wheelbase = 2.70
            ret.steerRatio = 17.8
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[
                20, 31
            ], [0.05, 0.1]]  # 45 to 70 mph
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[20, 31],
                                                                     [
                                                                         0.005,
                                                                         0.02
                                                                     ]]
            ret.lateralTuning.pid.kdBP, ret.lateralTuning.pid.kdV = [[20, 31],
                                                                     [
                                                                         0.1,
                                                                         0.25
                                                                     ]]
            ret.lateralTuning.pid.kf = 0.00006908923778520113  # full torque for 20 deg at 80mph means 0.00007818594
            ret.steerActuatorDelay = 0.32
            ret.lateralTuning.pid.newKfTuned = True

        elif candidate == CAR.LEXUS_RX:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 14.8
            tire_stiffness_factor = 0.5533
            ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.05]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate == CAR.LEXUS_RXH:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 16.  # 14.8 is spec end-to-end
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00006  # full torque for 10 deg at 80mph means 0.00007818594

        elif candidate == CAR.LEXUS_RX_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 14.8
            tire_stiffness_factor = 0.5533  # not optimized yet
            ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00007818594

        elif candidate == CAR.LEXUS_RXH_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 16.0  # 14.8 is spec end-to-end
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.15]]
            ret.lateralTuning.pid.kf = 0.00007818594

        elif candidate in [CAR.CHR, CAR.CHRH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.63906
            ret.steerRatio = 13.6
            tire_stiffness_factor = 0.7933
            ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
                                                                    [0.0428]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.82448
            ret.steerRatio = 13.7
            tire_stiffness_factor = 0.7933
            ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
            ret.steerRatio = 16.0
            tire_stiffness_factor = 0.8
            ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.18
            ], [0.015]]  # community tuning
            ret.lateralTuning.pid.kf = 0.00012  # community tuning

        elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.78
            ret.steerRatio = 16.0
            tire_stiffness_factor = 0.8
            ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.18
            ], [0.015]]  # community tuning
            ret.lateralTuning.pid.kf = 0.00012  # community tuning

        elif candidate == CAR.AVALON:
            stop_and_go = False
            ret.safetyParam = 73
            ret.wheelbase = 2.82
            ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
            tire_stiffness_factor = 0.7983
            ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
                                                                    [0.03]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate == CAR.RAV4_TSS2:
            stop_and_go = True
            ret.safetyParam = 56
            ret.wheelbase = 2.68986
            ret.steerRatio = 14.3
            tire_stiffness_factor = 0.7933
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
                                                                    [0.05]]
            ret.lateralTuning.pid.kdV = [0.68]
            ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kf = 0.00004
            for fw in car_fw:
                if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
                    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                        0.6
                    ], [0.1]]
                    ret.lateralTuning.pid.kf = 0.00007818594
                    break

            if rav4TSS2_use_indi:  # Rav4 2020 TSS2 Tune, needs to be verified, based on cgwtuning
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
                ret.lateralTuning.indi.innerLoopGainV = [15, 15]
                ret.lateralTuning.indi.outerLoopGainBP = [
                    8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
                ]
                ret.lateralTuning.indi.outerLoopGainV = [
                    4.7, 6.1, 8.35, 10.5, 12.8, 14.99, 16, 17, 18, 19
                ]
                ret.lateralTuning.indi.timeConstantBP = [
                    8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
                ]
                ret.lateralTuning.indi.timeConstantV = [
                    1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0
                ]
                ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
                ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
                ret.steerActuatorDelay = 0.12
                ret.steerRateCost = 0.3

        elif candidate == CAR.RAV4H_TSS2:
            stop_and_go = True
            ret.safetyParam = 56
            ret.wheelbase = 2.68986
            ret.steerRatio = 14.3
            tire_stiffness_factor = 0.7933
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15],
                                                                    [0.05]]
            ret.lateralTuning.pid.kdV = [0.68]
            ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kf = 0.00004
            for fw in car_fw:
                if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
                    ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                        0.6
                    ], [0.1]]
                    ret.lateralTuning.pid.kf = 0.00007818594
                    break

            if rav4TSS2_use_indi:  # Rav4 2020 TSS2 Tune, based on cgwtuning, needs to be verified
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGainBP = [16.7, 25]
                ret.lateralTuning.indi.innerLoopGainV = [15, 15]
                ret.lateralTuning.indi.outerLoopGainBP = [
                    8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
                ]
                ret.lateralTuning.indi.outerLoopGainV = [
                    4.7, 6.1, 8.35, 10.5, 12.8, 14.99, 16, 17, 18, 19
                ]
                ret.lateralTuning.indi.timeConstantBP = [
                    8.3, 11.1, 13.9, 16.7, 19.4, 22.2, 25, 30.1, 33.3, 36.1
                ]
                ret.lateralTuning.indi.timeConstantV = [
                    1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.0, 4.0, 4.0
                ]
                ret.lateralTuning.indi.actuatorEffectivenessBP = [16.7, 25]
                ret.lateralTuning.indi.actuatorEffectivenessV = [15, 15]
                ret.steerActuatorDelay = 0.12
                ret.steerRateCost = 0.3

        elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
            stop_and_go = True
            ret.safetyParam = 53
            ret.wheelbase = 2.67
            ret.steerRatio = 15.33
            tire_stiffness_factor = 0.996  # not optimized yet
            ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
            if corollaTSS2_use_indi:  # birdman6450#7399's Corolla 2020 TSS2 Tune
                ret.lateralTuning.init('indi')
                ret.lateralTuning.indi.innerLoopGainBP = [18, 22, 26]
                ret.lateralTuning.indi.innerLoopGainV = [9, 12, 15]
                ret.lateralTuning.indi.outerLoopGainBP = [18, 22, 26]
                ret.lateralTuning.indi.outerLoopGainV = [8, 11, 14.99]
                ret.lateralTuning.indi.timeConstantBP = [18, 22, 26]
                ret.lateralTuning.indi.timeConstantV = [1, 3, 4.5]
                ret.lateralTuning.indi.actuatorEffectivenessBP = [18, 22, 26]
                ret.lateralTuning.indi.actuatorEffectivenessV = [9, 12, 15]
                ret.steerActuatorDelay = 0.42
            else:
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                    .028
                ], [.0012]]  #birdman6450#7399's Corolla 2020 PIF Tune
                ret.lateralTuning.pid.kdV = [0.]
                ret.lateralTuning.pid.kf = 0.000153263811757641
                ret.lateralTuning.pid.newKfTuned = True
                ret.steerActuatorDelay = 0.48

        elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.8702
            ret.steerRatio = 16.0  # not optimized
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00007818594

        elif candidate == CAR.SIENNA:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 3.03
            ret.steerRatio = 15.5
            tire_stiffness_factor = 0.444
            ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19],
                                                                    [0.02]]
            ret.lateralTuning.pid.kf = 0.00007818594

        elif candidate == CAR.LEXUS_IS:
            stop_and_go = False
            ret.safetyParam = 77
            ret.wheelbase = 2.79908
            ret.steerRatio = 13.3
            tire_stiffness_factor = 0.444
            ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                    [0.05]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate == CAR.LEXUS_CTH:
            stop_and_go = True
            ret.safetyParam = 100
            ret.wheelbase = 2.60
            ret.steerRatio = 18.6
            tire_stiffness_factor = 0.517
            ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                    [0.05]]
            ret.lateralTuning.pid.kf = 0.00007

        elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.66
            ret.steerRatio = 14.7
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate == CAR.PRIUS_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.70002  # from toyota online sepc.
            ret.steerRatio = 13.4  # True steerRation from older prius
            tire_stiffness_factor = 0.6371  # hand-tune
            ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35],
                                                                    [0.15]]
            ret.lateralTuning.pid.kf = 0.00007818594

        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 MIN_ACC_SPEED

        # removing the DSU disables AEB and it's considered a community maintained feature
        # intercepting the DSU is a community feature since it requires unofficial hardware
        ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu

        ret.longitudinalTuning.deadzoneBP = [0., 9.]
        ret.longitudinalTuning.deadzoneV = [0., .15]
        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kiBP = [0., 35.]

        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
        ret.longitudinalTuning.kiV = [0.54, 0.36]

        if ret.enableGasInterceptor:
            ret.gasMaxBP = [0., MIN_ACC_SPEED]
            ret.gasMaxV = [0.2, 0.5]

        return ret
示例#9
0
    def get_params(candidate, fingerprint, vin="", is_panda_black=False):

        ret = car.CarParams.new_message()

        ret.carName = "chrysler"
        ret.carFingerprint = candidate
        ret.carVin = vin
        ret.isPandaBlack = is_panda_black

        ret.safetyModel = car.CarParams.SafetyModel.chrysler

        # pedal
        ret.enableCruise = True

        # Speed conversion:              20, 45 mph
        ret.wheelbase = 3.089  # in meters for Pacifica Hybrid 2017
        ret.steerRatio = 16.2  # Pacifica Hybrid 2017
        ret.mass = 2858. + STD_CARGO_KG  # kg curb weight Pacifica Hybrid 2017
        ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.],
                                                                  [9., 20.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30],
                                                                [0.03, 0.05]]
        ret.lateralTuning.pid.kf = 0.00006  # full torque for 10 deg at 80mph means 0.00007818594
        ret.steerActuatorDelay = 0.1
        ret.steerRateCost = 0.7

        if candidate in (CAR.JEEP_CHEROKEE_2017, CAR.JEEP_CHEROKEE_2018,
                         CAR.JEEP_CHEROKEE_2019):
            ret.wheelbase = 2.91  # in meters
            ret.steerRatio = 12.7
            ret.steerActuatorDelay = 0.2  # in seconds

        ret.centerToFront = ret.wheelbase * 0.44

        ret.minSteerSpeed = 3.8  # m/s
        ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
        if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
            ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
            # TODO allow 2019 cars to steer down to 13 m/s if already engaged.

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass, ret.wheelbase, ret.centerToFront)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [16. * CV.KPH_TO_MS,
                          45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph
        ret.steerMaxV = [1., 1.]  # 2/3rd torque allowed above 45 kph
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [5., 20.]
        ret.brakeMaxV = [1., 0.8]

        ret.enableCamera = not check_ecu_msgs(fingerprint,
                                              ECU.CAM) or is_panda_black
        print("ECU Camera Simulated: {0}".format(ret.enableCamera))
        ret.openpilotLongitudinalControl = False

        ret.steerLimitAlert = True
        ret.stoppingControl = False
        ret.startAccel = 0.0

        ret.longitudinalTuning.deadzoneBP = [0., 9.]
        ret.longitudinalTuning.deadzoneV = [0., .15]
        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.54, 0.36]

        return ret
示例#10
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):

        ret = car.CarParams.new_message()

        ret.carName = "hyundai"
        ret.carFingerprint = candidate
        ret.isPandaBlack = has_relay
        ret.safetyModel = car.CarParams.SafetyModel.hyundai
        ret.enableCruise = True  # stock acc

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.8
        tire_stiffness_factor = 1.

        if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]:
            ret.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.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 == CAR.SONATA_LF_TURBO:
            ret.mass = 1590. + STD_CARGO_KG
            ret.wheelbase = 2.805
            tire_stiffness_factor = 0.65

            ret.lateralTuning.init('lqr')

            ret.lateralTuning.lqr.scale = 1680.0
            ret.lateralTuning.lqr.ki = 0.01
            ret.lateralTuning.lqr.dcGain = 0.002858

            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.steerRatio = 13.8
            ret.steerActuatorDelay = 0.20
            ret.steerLimitTimer = 1.88

            ret.steerRateCost = 0.555

            ret.steerMaxBP = [0.]
            ret.steerMaxV = [1.5]
        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 = 0.00004
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 10.1  #Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13],
                                                                    [0.009]]
            ret.steerRateCost = 0.8
        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 = 0.00004
            ret.mass = 1490. + STD_CARGO_KG  #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
            ret.wheelbase = 2.7
            ret.steerRatio = 10.1  #Tuned
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13],
                                                                    [0.009]]
            ret.minSteerSpeed = 32 * CV.MPH_TO_MS
            ret.steerRateCost = 0.8
        elif candidate in [CAR.KIA_FORTE, CAR.KIA_FORTE_KOUP_2013]:
            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_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.

        ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this

        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.18, 0.12]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [0.]
        ret.steerMaxV = [1.0]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [0., 20.]
        ret.brakeMaxV = [1., 0.8]

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               Ecu.fwdCamera) or has_relay
        ret.enableCamera = True
        ret.openpilotLongitudinalControl = True
        #ret.openpilotLongitudinalControl = False

        ret.stoppingControl = True
        ret.startAccel = 0.0

        # ignore CAN2 address if L-CAN on the same BUS
        ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
                                                                         else 2 if 1056 in fingerprint[2] else -1
        ret.autoLcaEnabled = 0

        return ret
示例#11
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        ret.carName = "volkswagen"
        ret.communityFeature = True
        ret.radarOffCan = True

        if True:  # pylint: disable=using-constant-test
            # Set global MQB parameters
            ret.safetyModel = car.CarParams.SafetyModel.volkswagen
            ret.enableBsm = 0x30F in fingerprint[0]

            if 0xAD in fingerprint[0]:  # Getriebe_11
                ret.transmissionType = TransmissionType.automatic
            elif 0x187 in fingerprint[0]:  # EV_Gearshift
                ret.transmissionType = TransmissionType.direct
            else:  # No trans message at all, must be a true stick-shift manual
                ret.transmissionType = TransmissionType.manual

        # 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.TIGUAN_MK2:
            ret.mass = 1715 + STD_CARGO_KG
            ret.wheelbase = 2.74

        elif candidate == CAR.TOURAN_MK2:
            ret.mass = 1516 + STD_CARGO_KG
            ret.wheelbase = 2.79

        elif candidate == CAR.AUDI_A3_MK3:
            ret.mass = 1335 + STD_CARGO_KG
            ret.wheelbase = 2.61

        elif candidate == CAR.AUDI_Q2_MK1:
            ret.mass = 1205 + STD_CARGO_KG
            ret.wheelbase = 2.61

        elif candidate == CAR.SEAT_ATECA_MK1:
            ret.mass = 1900 + STD_CARGO_KG
            ret.wheelbase = 2.64

        elif candidate == CAR.SEAT_LEON_MK3:
            ret.mass = 1227 + STD_CARGO_KG
            ret.wheelbase = 2.64

        elif candidate == CAR.SKODA_KODIAQ_MK1:
            ret.mass = 1569 + STD_CARGO_KG
            ret.wheelbase = 2.79

        elif candidate == CAR.SKODA_OCTAVIA_MK3:
            ret.mass = 1388 + STD_CARGO_KG
            ret.wheelbase = 2.68

        elif candidate == CAR.SKODA_SCALA_MK1:
            ret.mass = 1192 + STD_CARGO_KG
            ret.wheelbase = 2.65

        elif candidate == CAR.SKODA_SUPERB_MK3:
            ret.mass = 1505 + STD_CARGO_KG
            ret.wheelbase = 2.84

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.centerToFront = ret.wheelbase * 0.45
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        return ret
示例#12
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        ret.carName = "gm"
        ret.safetyModel = car.CarParams.SafetyModel.gm
        ret.pcmCruise = False  # stock cruise control is kept off
        ret.stoppingControl = True
        ret.startAccel = 0.8
        ret.steerLimitTimer = 0.4
        ret.radarTimeStep = 1 / 15  # GM radar runs at 15Hz instead of standard 20Hz

        # GM port is a community feature
        # TODO: make a port that uses a car harness and it only intercepts the camera
        ret.communityFeature = True

        # Presence of a camera on the object bus is ok.
        # Have to go to read_only if ASCM is online (ACC-enabled cars),
        # or camera is on powertrain bus (LKA cars without ACC).
        ret.openpilotLongitudinalControl = True
        tire_stiffness_factor = 0.444  # not optimized yet

        # Default lateral controller params.
        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
        ret.lateralTuning.pid.kpBP = [0.]
        ret.lateralTuning.pid.kpV = [0.2]
        ret.lateralTuning.pid.kiBP = [0.]
        ret.lateralTuning.pid.kiV = [0.]
        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

        # Default longitudinal controller params.
        ret.longitudinalTuning.kpBP = [5., 35.]
        ret.longitudinalTuning.kpV = [2.4, 1.5]
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.36]

        if candidate == CAR.VOLT:
            # supports stop and go, but initial engage must be above 18mph (which include conservatism)
            ret.minEnableSpeed = -1
            ret.mass = 1607. + STD_CARGO_KG
            ret.wheelbase = 2.69
            ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
            ret.steerRateCost = 0.7
            tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
            ret.steerRatioRear = 0.
            ret.centerToFront = 0.45 * ret.wheelbase  # from Volt Gen 1

            ret.lateralTuning.pid.kpBP = [0., 40.]
            ret.lateralTuning.pid.kpV = [0., 0.17]
            ret.lateralTuning.pid.kiBP = [
                i * CV.MPH_TO_MS for i in [0., 15., 55., 80.]
            ]
            ret.lateralTuning.pid.kiV = [0., .02, .01, .002]
            ret.lateralTuning.pid.kf = 1.  # !!! ONLY for sigmoid feedforward !!!
            ret.steerActuatorDelay = 0.2

            # Only tuned to reduce oscillations. TODO.
            ret.longitudinalTuning.kpV = [1.6, 1.25]
            ret.longitudinalTuning.kiV = [0.25]

        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  # from vin decoder
            ret.wheelbase = 2.86  # Confirmed from vin decoder
            ret.steerRatio = 14.4  # end to end is 13.46 - seems to be undocumented, using JYoung value
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4
            ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
            ret.longitudinalTuning.kpV = [1.9, 1.5]

        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

        elif candidate == CAR.ESCALADE:
            ret.minEnableSpeed = -1.  # engage speed is decided by pcm
            ret.mass = 2645. + STD_CARGO_KG
            ret.wheelbase = 2.95
            ret.steerRatio = 17.3  # end to end is 13.46
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4
            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

        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
示例#13
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   vin="",
                   has_relay=False):

        ret = car.CarParams.new_message()

        ret.carName = "hyundai"
        ret.carFingerprint = candidate
        ret.carVin = vin
        ret.isPandaBlack = has_relay
        ret.safetyModel = car.CarParams.SafetyModel.hyundai
        ret.enableCruise = True  # stock acc

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.8
        tire_stiffness_factor = 1.

        if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_1]:
            ret.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.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]]
        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  # meters, per above Hyundai link
            ret.steerRatio = 13.9  # per Hyundai PDF http://resources.mynewsdesk.com/image/upload/t_attachment/t29mrnj5qhmaghpegang.pdf
            tire_stiffness_factor = 0.68  # From TK
            ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18],
                                                                    [0.05]]
            ret.minSteerSpeed = 32 * CV.MPH_TO_MS
        elif candidate == CAR.KIA_FORTE:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3792. * CV.LB_TO_KG
            ret.wheelbase = 2.70
            ret.steerRatio = 12.7
            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.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this

        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [2.6, 1.8, 0.9]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.26, 0.18]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [0.]
        ret.steerMaxV = [1.0]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [0.]
        ret.brakeMaxV = [1.]

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               ECU.CAM) or has_relay
        ret.openpilotLongitudinalControl = True

        ret.stoppingControl = True
        ret.startAccel = 0.0

        ret.mdpsBus = 1 if 593 in fingerprint[1] else 0
        ret.sasBus = 1 if 688 in fingerprint[1] else 0
        ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[
            1] else 2 if 1056 in fingerprint[2] else -1

        return ret
示例#14
0
    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.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]]

        # 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
示例#15
0
    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
        """ INDI EXAMPLE: 각줄에 pid가 들어간 항목만 코멘트(#)처리 하시고 indi 관련 설정을 넣어주시면 됩니다.
                      아래 - 수정예시
      ret.lateralTuning.init('indi')
      ret.lateralTuning.indi.innerLoopGain = 3.0
      ret.lateralTuning.indi.outerLoopGain = 2.0
      ret.lateralTuning.indi.timeConstant = 1.0
      ret.lateralTuning.indi.actuatorEffectiveness = 1.5
      #ret.lateralTuning.pid.kf = 0.00005                >>>> PID들어간 항목 코멘트(#)처리
      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.]]      >>>> PID들어간 항목 코멘트(#)처리
      #ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]    >>>> PID들어간 항목 코멘트(#)처리
    """
        """ LQR EXAMPLE: 각줄에 pid가 들어간 항목만 코멘트(#)처리 하시고 lqr 관련 설정을 넣어주시면 됩니다.
                     아래 - 수정예시
      ret.lateralTuning.init('lqr')
      ret.lateralTuning.lqr.scale = 2000.0
      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 = [-100., 450.]
      ret.lateralTuning.lqr.l = [0.22, 0.318]
      ret.lateralTuning.lqr.dcGain = 0.003
      #ret.lateralTuning.pid.kf = 0.00005                >>>> PID들어간 항목 코멘트(#)처리
      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.]]      >>>> PID들어간 항목 코멘트(#)처리
      #ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]    >>>> PID들어간 항목 코멘트(#)처리
    """

        tire_stiffness_factor = 1.
        ret.steerActuatorDelay = 0.3  # Default delay
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.8

        if candidate in [CAR.GRANDEUR_HEV, CAR.K7_HEV]:
            #ret.lateralTuning.init('lqr')
            #ret.lateralTuning.lqr.scale = 1850.0
            #ret.lateralTuning.lqr.ki = 0.02
            #ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            #ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            #ret.lateralTuning.lqr.c = [1., 0.]
            #ret.lateralTuning.lqr.k = [-105., 450.]
            #ret.lateralTuning.lqr.l = [0.30, 0.300]
            #ret.lateralTuning.lqr.dcGain = 0.003
            ret.lateralTuning.pid.kf = 0.00004
            ret.mass = 1675. + STD_CARGO_KG
            ret.wheelbase = 2.885
            ret.steerRatio = 12.5
            ret.steerRateCost = 0.2
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.04]]
        elif 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 == 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.init('lqr')
            ret.lateralTuning.lqr.scale = 2000.0
            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 = [-100., 450.]
            ret.lateralTuning.lqr.l = [0.22, 0.318]
            ret.lateralTuning.lqr.dcGain = 0.003
            #ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1725. + 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 = [11., 22.]  # 속도. 40~80

        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
示例#16
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        # VW port is a community feature, since we don't own one to test
        ret.communityFeature = True

        if True:  # pylint: disable=using-constant-test
            # Set common MQB parameters that will apply globally
            ret.carName = "volkswagen"
            ret.radarOffCan = True
            ret.safetyModel = car.CarParams.SafetyModel.volkswagen
            ret.steerActuatorDelay = 0.05

            if 0xAD in fingerprint[0]:
                # Getriebe_11 detected: traditional automatic or DSG gearbox
                ret.transmissionType = TransmissionType.automatic
            elif 0x187 in fingerprint[0]:
                # EV_Gearshift detected: e-Golf or similar direct-drive electric
                ret.transmissionType = TransmissionType.direct
            else:
                # No trans message at all, must be a true stick-shift manual
                ret.transmissionType = TransmissionType.manual
            cloudlog.info("Detected transmission type: %s",
                          ret.transmissionType)

        # Global tuning defaults, can be overridden per-vehicle

        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 in [CAR.AUDI_A3, CAR.GOLF]:
            # Temporarily carry forward old tuning values while we test vehicle identification
            ret.mass = 1500 + STD_CARGO_KG
            ret.wheelbase = 2.64

        if candidate == CAR.TIGUAN_MK2:
            # Average of SWB and LWB variants
            ret.mass = 1715 + STD_CARGO_KG
            ret.wheelbase = 2.74

        ret.centerToFront = ret.wheelbase * 0.45

        ret.enableCamera = True  # Stock camera detection doesn't apply to VW

        # 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
示例#17
0
    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 = 0.8
            ret.mass = 1425. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73
            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

        elif candidate == CAR.KIA_NIRO_HEV:
            ret.steerActuatorDelay = 0.3
            ret.steerRateCost = 0.45
            ret.steerLimitTimer = 0.4
            ret.lateralTuning.init('lqr')
            ret.lateralTuning.lqr.scale = 1750.0
            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.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]]

        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
示例#18
0
    def get_params(candidate, fingerprint, vin="", is_panda_black=False):
        ret = car.CarParams.new_message()

        ret.carName = "gm"
        ret.carFingerprint = candidate
        ret.carVin = vin
        ret.isPandaBlack = is_panda_black

        ret.enableCruise = False

        # Presence of a camera on the object bus is ok.
        # Have to go to read_only if ASCM is online (ACC-enabled cars),
        # or camera is on powertrain bus (LKA cars without ACC).
        ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate]
                                   if x in fingerprint) or is_panda_black
        ret.openpilotLongitudinalControl = ret.enableCamera
        tire_stiffness_factor = 0.444  # not optimized yet

        if candidate == CAR.VOLT:
            # supports stop and go, but initial engage must be above 18mph (which include conservatism)
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 1607. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.69
            ret.steerRatio = 15.7
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # wild guess

        elif candidate == CAR.MALIBU:
            # supports stop and go, but initial engage must be above 18mph (which include conservatism)
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 1496. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.83
            ret.steerRatio = 15.8
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # wild guess

        elif candidate == CAR.HOLDEN_ASTRA:
            ret.mass = 1363. + STD_CARGO_KG
            ret.wheelbase = 2.662
            # Remaining parameters copied from Volt for now
            ret.centerToFront = ret.wheelbase * 0.4
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.steerRatio = 15.7
            ret.steerRatioRear = 0.

        elif candidate == CAR.ACADIA:
            ret.minEnableSpeed = -1.  # engage speed is decided by pcm
            ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.86
            ret.steerRatio = 14.4  #end to end is 13.46
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4

        elif candidate == CAR.BUICK_REGAL:
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.83  #111.4 inches in meters
            ret.steerRatio = 14.4  # guess for tourx
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx

        elif candidate == CAR.CADILLAC_ATS:
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 1601. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.78
            ret.steerRatio = 15.3
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.49

        elif candidate == CAR.CADILLAC_CT6:
            # engage speed is decided by pcm
            ret.minEnableSpeed = -1.
            ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.cadillac
            ret.wheelbase = 3.11
            ret.steerRatio = 14.6  # it's 16.3 without rear active steering
            ret.steerRatioRear = 0.  # TODO: there is RAS on this car!
            ret.centerToFront = ret.wheelbase * 0.465

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # same tuning for Volt and CT6 for now
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
        ret.lateralTuning.pid.kf = 0.00004  # full torque for 20 deg at 80mph means 0.00007818594

        ret.steerMaxBP = [0.]  # m/s
        ret.steerMaxV = [1.]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [.5]
        ret.brakeMaxBP = [0.]
        ret.brakeMaxV = [1.]

        ret.longitudinalTuning.kpBP = [5., 35.]
        ret.longitudinalTuning.kpV = [2.4, 1.5]
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.36]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.steerLimitAlert = True

        ret.stoppingControl = True
        ret.startAccel = 0.8

        ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
        ret.steerRateCost = 1.0
        ret.steerControlType = car.CarParams.SteerControlType.torque

        return ret
示例#19
0
文件: interface.py 项目: Donfyffe/op4
  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.openpilotLongitudinalControl = Params().get_bool('LongControlEnabled')

    ret.carName = "hyundai"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy, 0)]

    tire_stiffness_factor = 1.
    ret.maxSteeringAngleDeg = 1000.

    ret.steerFaultMaxAngle = 85
    ret.steerFaultMaxFrames = 90

    ret.disableLateralLiveTuning = False

    # lateral
    lateral_control = Params().get("LateralControl", encoding='utf-8')
    if lateral_control == 'INDI':
      ret.lateralTuning.init('indi')
      ret.lateralTuning.indi.innerLoopGainBP = [0.]
      ret.lateralTuning.indi.innerLoopGainV = [3.3]
      ret.lateralTuning.indi.outerLoopGainBP = [0.]
      ret.lateralTuning.indi.outerLoopGainV = [2.8]
      ret.lateralTuning.indi.timeConstantBP = [0.]
      ret.lateralTuning.indi.timeConstantV = [1.4]
      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
    elif lateral_control == 'LQR':
      ret.lateralTuning.init('lqr')

      ret.lateralTuning.lqr.scale = 1600.
      ret.lateralTuning.lqr.ki = 0.01
      ret.lateralTuning.lqr.dcGain = 0.0025

      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]
    else:
      ret.lateralTuning.init('torque')
      ret.lateralTuning.torque.useSteeringAngle = True
      max_lat_accel = 1.8
      ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
      ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
      ret.lateralTuning.torque.ki = 0.25 / max_lat_accel
      ret.lateralTuning.torque.friction = 0.01

      ret.lateralTuning.torque.kd = 0.0
      ret.lateralTuning.torque.deadzone = 0.0


    ret.steerRatio = 16.5
    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 0.35

    ret.steerLimitTimer = 2.5

    # longitudinal
    ret.longitudinalTuning.kpBP = [0., 5.*CV.KPH_TO_MS, 10.*CV.KPH_TO_MS, 30.*CV.KPH_TO_MS, 130.*CV.KPH_TO_MS]
    ret.longitudinalTuning.kpV = [1.25, 1.1, 1.0, 0.88, 0.48]
    ret.longitudinalTuning.kiBP = [0., 130. * CV.KPH_TO_MS]
    ret.longitudinalTuning.kiV = [0.1, 0.05]
    ret.longitudinalActuatorDelayLowerBound = 0.3
    ret.longitudinalActuatorDelayUpperBound = 0.3

    ret.stopAccel = -2.0
    ret.stoppingDecelRate = 0.4  # brake_travel/s while trying to stop
    ret.vEgoStopping = 0.5
    ret.vEgoStarting = 0.5

    # genesis
    if candidate == CAR.GENESIS:
      ret.mass = 1900. + STD_CARGO_KG
      ret.wheelbase = 3.01
      ret.centerToFront = ret.wheelbase * 0.4
      ret.maxSteeringAngleDeg = 90.
      ret.steerFaultMaxAngle = 0
    elif candidate == CAR.GENESIS_G70:
      ret.mass = 1640. + STD_CARGO_KG
      ret.wheelbase = 2.84
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.GENESIS_G80:
      ret.mass = 1855. + STD_CARGO_KG
      ret.wheelbase = 3.01
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.GENESIS_EQ900:
      ret.mass = 2200
      ret.wheelbase = 3.15
      ret.centerToFront = ret.wheelbase * 0.4

      # thanks to 파파
      ret.steerRatio = 16.0
      ret.steerActuatorDelay = 0.075
      ret.steerRateCost = 0.4

      if ret.lateralTuning.which() == 'torque':
        ret.lateralTuning.torque.useSteeringAngle = True
        max_lat_accel = 2.2
        ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
        ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
        ret.lateralTuning.torque.ki = 0.25 / max_lat_accel
        ret.lateralTuning.torque.friction = 0.01
        ret.lateralTuning.torque.kd = 0.0

    elif candidate == CAR.GENESIS_EQ900_L:
      ret.mass = 2290
      ret.wheelbase = 3.45
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.GENESIS_G90:
      ret.mass = 2150
      ret.wheelbase = 3.16
      ret.centerToFront = ret.wheelbase * 0.4
    # hyundai
    elif candidate in [CAR.SANTA_FE]:
      ret.mass = 1694 + STD_CARGO_KG
      ret.wheelbase = 2.766
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
      ret.mass = 1750 + STD_CARGO_KG
      ret.wheelbase = 2.766
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.SONATA, CAR.SONATA_HEV, CAR.SONATA21_HEV]:
      ret.mass = 1513. + STD_CARGO_KG
      ret.wheelbase = 2.84
      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 0.65
    elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
      ret.mass = 4497. * CV.LB_TO_KG
      ret.wheelbase = 2.804
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.SONATA_LF_TURBO:
      ret.mass = 1590. + STD_CARGO_KG
      ret.wheelbase = 2.805
      tire_stiffness_factor = 0.65
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.PALISADE:
      ret.mass = 1999. + STD_CARGO_KG
      ret.wheelbase = 2.90
      ret.centerToFront = ret.wheelbase * 0.4

      # thanks to 지구별(alexhys)
      ret.steerRatio = 16.0
      ret.steerActuatorDelay = 0.075
      ret.steerRateCost = 0.4

      if ret.lateralTuning.which() == 'torque':
        ret.lateralTuning.torque.useSteeringAngle = True
        max_lat_accel = 2.3
        ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
        ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
        ret.lateralTuning.torque.ki = 0.25 / max_lat_accel
        ret.lateralTuning.torque.friction = 0.0
        ret.lateralTuning.torque.kd = 0.1

    elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
      ret.mass = 1275. + STD_CARGO_KG
      ret.wheelbase = 2.7
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.ELANTRA_2021:
      ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
      tire_stiffness_factor = 0.65
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.ELANTRA_HEV_2021:
      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
      ret.wheelbase = 2.72
      ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
      tire_stiffness_factor = 0.65
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.KONA:
      ret.mass = 1275. + STD_CARGO_KG
      ret.wheelbase = 2.7
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
      ret.mass = 1395. + STD_CARGO_KG
      ret.wheelbase = 2.6
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
      ret.mass = 1490. + STD_CARGO_KG
      ret.wheelbase = 2.7
      tire_stiffness_factor = 0.385
      #if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
      #  ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.GRANDEUR_IG, CAR.GRANDEUR_IG_HEV]:
      tire_stiffness_factor = 0.8
      ret.mass = 1570. + STD_CARGO_KG
      ret.wheelbase = 2.845
      ret.centerToFront = ret.wheelbase * 0.385
      ret.steerRatio = 16.

    elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
      tire_stiffness_factor = 0.8
      ret.mass = 1600. + STD_CARGO_KG
      ret.wheelbase = 2.885
      ret.centerToFront = ret.wheelbase * 0.385
      ret.steerRatio = 17.
    elif candidate == CAR.VELOSTER:
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
      tire_stiffness_factor = 0.9
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.TUCSON_TL_SCC:
      ret.mass = 1594. + STD_CARGO_KG #1730
      ret.wheelbase = 2.67
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    # kia
    elif candidate == CAR.SORENTO:
      ret.mass = 1985. + STD_CARGO_KG
      ret.wheelbase = 2.78
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.K5, CAR.K5_HEV]:
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.K5_2021]:
      ret.mass = 3228. * CV.LB_TO_KG
      ret.wheelbase = 2.85
      tire_stiffness_factor = 0.7
    elif candidate == CAR.STINGER:
      tire_stiffness_factor = 1.125 # LiveParameters (Tunder's 2020)
      ret.mass = 1825.0 + STD_CARGO_KG
      ret.wheelbase = 2.906
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.FORTE:
      ret.mass = 3558. * CV.LB_TO_KG
      ret.wheelbase = 2.80
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.CEED:
      ret.mass = 1350. + STD_CARGO_KG
      ret.wheelbase = 2.65
      tire_stiffness_factor = 0.6
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.SPORTAGE:
      ret.mass = 1985. + STD_CARGO_KG
      ret.wheelbase = 2.78
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate in [CAR.NIRO_EV, CAR.NIRO_HEV, CAR.NIRO_HEV_2021]:
      ret.mass = 1737. + STD_CARGO_KG
      ret.wheelbase = 2.7
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.SELTOS:
      ret.mass = 1310. + STD_CARGO_KG
      ret.wheelbase = 2.6
      tire_stiffness_factor = 0.7
      ret.centerToFront = ret.wheelbase * 0.4
    elif candidate == CAR.MOHAVE:
      ret.mass = 2285. + STD_CARGO_KG
      ret.wheelbase = 2.895
      ret.centerToFront = ret.wheelbase * 0.5
      tire_stiffness_factor = 0.8
    elif candidate in [CAR.K7, CAR.K7_HEV]:
      tire_stiffness_factor = 0.7
      ret.mass = 1650. + STD_CARGO_KG
      ret.wheelbase = 2.855
      ret.centerToFront = ret.wheelbase * 0.4
      ret.steerRatio = 17.25
    elif candidate == CAR.K9:
      ret.mass = 2005. + STD_CARGO_KG
      ret.wheelbase = 3.15
      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 0.8

      ret.steerRatio = 14.5
      ret.steerRateCost = 0.4

      if ret.lateralTuning.which() == 'torque':
        #ret.disableLateralLiveTuning = True
        #ret.lateralTuning.torque.kp = 0.63
        #ret.lateralTuning.torque.ki = 0.15
        #ret.lateralTuning.torque.kf = 0.31

        ret.lateralTuning.torque.useSteeringAngle = True
        max_lat_accel = 2.2
        ret.lateralTuning.torque.kp = 1.0 / max_lat_accel
        ret.lateralTuning.torque.kf = 1.0 / max_lat_accel
        ret.lateralTuning.torque.ki = 0.25 / max_lat_accel
        ret.lateralTuning.torque.friction = 0.01
        ret.lateralTuning.torque.kd = 0.0


    ret.radarTimeStep = 0.05

    if ret.centerToFront == 0:
      ret.centerToFront = ret.wheelbase * 0.4


    # TODO: get actual value, for now starting with reasonable value for
    # civic and scaling by mass and wheelbase
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

    # no rear steering, at least on the listed cars above
    ret.steerRatioRear = 0.
    ret.steerControlType = car.CarParams.SteerControlType.torque

    ret.stoppingControl = True

    ret.enableBsm = 0x58b in fingerprint[0]
    ret.enableAutoHold = 1151 in fingerprint[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

    if ret.sccBus >= 0:
      ret.hasScc13 = 1290 in fingerprint[ret.sccBus]
      ret.hasScc14 = 905 in fingerprint[ret.sccBus]

    ret.hasEms = 608 in fingerprint[0] and 809 in fingerprint[0]
    ret.hasLfaHda = 1157 in fingerprint[0]

    ret.radarOffCan = ret.sccBus == -1
    ret.pcmCruise = not ret.radarOffCan

    # set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
    if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or Params().get_bool('MadModeEnabled'):
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCommunity, 0)]
    return ret
示例#20
0
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):

    ret = car.CarParams.new_message()
    ret.carName = "honda"
    ret.carFingerprint = candidate
    ret.carVin = vin
    ret.isPandaBlack = has_relay

    if candidate in HONDA_BOSCH:
      ret.safetyModel = car.CarParams.SafetyModel.hondaBosch
      rdr_bus = 0 if has_relay else 2
      ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
      ret.radarOffCan = True
      ret.openpilotLongitudinalControl = False
    else:
      ret.safetyModel = car.CarParams.SafetyModel.honda
      ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
      ret.enableGasInterceptor = 0x201 in fingerprint[0]
      ret.openpilotLongitudinalControl = ret.enableCamera

    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
    cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

    ret.enableCruise = not ret.enableGasInterceptor
    ret.communityFeature = ret.enableGasInterceptor

    # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
    # which improves controls quality as it removes the steering column torsion from feedback.
    # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
    # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"

    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward

    if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
      stop_and_go = True
      ret.mass = CivicParams.MASS
      ret.wheelbase = CivicParams.WHEELBASE
      ret.centerToFront = CivicParams.CENTER_TO_FRONT
      ret.steerRatio = 15.38  # 10.93 is end-to-end spec
      tire_stiffness_factor = 1.

      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.54, 0.36]

    elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
      stop_and_go = True
      if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
        ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
      ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.83
      ret.centerToFront = ret.wheelbase * 0.39
      ret.steerRatio = 16.33  # 11.82 is spec end-to-end
      tire_stiffness_factor = 0.8467
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.ACURA_ILX:
      stop_and_go = False
      ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.67
      ret.centerToFront = ret.wheelbase * 0.37
      ret.steerRatio = 18.61  # 15.3 is spec end-to-end
      tire_stiffness_factor = 0.72
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.CRV:
      stop_and_go = False
      ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.62
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 16.89  # as spec
      tire_stiffness_factor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.CRV_5G:
      stop_and_go = True
      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
      ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.66
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
      tire_stiffness_factor = 0.677
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.CRV_HYBRID:
      stop_and_go = True
      ret.safetyParam = 1  # Accord and CRV 5G use an alternate user brake msg
      ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
      ret.wheelbase = 2.66
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 16.0  # 12.3 is spec end-to-end
      tire_stiffness_factor = 0.677
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.FIT:
      stop_and_go = False
      ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.53
      ret.centerToFront = ret.wheelbase * 0.39
      ret.steerRatio = 13.06
      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.ACURA_RDX:
      stop_and_go = False
      ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 2.68
      ret.centerToFront = ret.wheelbase * 0.38
      ret.steerRatio = 15.0  # as spec
      tire_stiffness_factor = 0.444
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.ODYSSEY:
      stop_and_go = False
      ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
      ret.wheelbase = 3.00
      ret.centerToFront = ret.wheelbase * 0.41
      ret.steerRatio = 14.35  # as spec
      tire_stiffness_factor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate == CAR.ODYSSEY_CHN:
      stop_and_go = False
      ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
      ret.wheelbase = 2.90
      ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
      ret.steerRatio = 14.35
      tire_stiffness_factor = 0.82
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
      ret.longitudinalTuning.kiBP = [0., 35.]
      ret.longitudinalTuning.kiV = [0.18, 0.12]

    elif candidate in (CAR.PILOT, CAR.PILOT_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
      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
      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]

    else:
      raise ValueError("unsupported car %s" % candidate)

    ret.steerControlType = car.CarParams.SteerControlType.torque

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
    # conflict with PCM acc
    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS

    # TODO: get actual value, for now starting with reasonable value for
    # civic and scaling by mass and wheelbase
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

    # no rear steering, at least on the listed cars above
    ret.steerRatioRear = 0.

    # no max steer limit VS speed
    ret.steerMaxBP = [0.]  # m/s
    ret.steerMaxV = [1.]   # max steer allowed

    ret.gasMaxBP = [0.]  # m/s
    ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
    ret.brakeMaxBP = [5., 20.]  # m/s
    ret.brakeMaxV = [1., 0.8]   # max brake allowed

    ret.longitudinalTuning.deadzoneBP = [0.]
    ret.longitudinalTuning.deadzoneV = [0.]

    ret.stoppingControl = True
    ret.startAccel = 0.5

    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 0.5
    ret.steerLimitTimer = 0.8

    return ret
示例#21
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        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

        if Params().get('ChryslerMangoMode') == b'0':
            ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[
                9., 20.
            ], [9., 20.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.1, 0.15
            ], [0.02, 0.03]]
            ret.lateralTuning.pid.kfBP = [0.]
            ret.lateralTuning.pid.kfV = [
                0.00005
            ]  # full torque for 10 deg at 80mph means 0.00007818594
        else:
            ret.lateralTuning.pid.kpBP = [0., 10.]
            ret.lateralTuning.pid.kpV = [0.01, 0.03]

            ret.lateralTuning.pid.kiBP = [0., 30.]
            ret.lateralTuning.pid.kiV = [0.02, 0.03]

            ret.lateralTuning.pid.kdBP = [0.]
            ret.lateralTuning.pid.kdV = [1.]

            ret.lateralTuning.pid.kfBP = [0.]
            ret.lateralTuning.pid.kfV = [
                0.00002
            ]  # full torque for 10 deg at 80mph means 0.00007818594

        ret.steerActuatorDelay = 0.01
        ret.steerRateCost = 0.4
        ret.steerLimitTimer = 0.7

        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.
            ret.minSteerSpeed = 0.  # 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 = True

        return ret
示例#22
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        ret.carName = "volkswagen"
        ret.radarOffCan = True

        if True:  # pylint: disable=using-constant-test
            # Set global MQB parameters
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.volkswagen)
            ]
            ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01

            if 0xAD in fingerprint[0]:  # Getriebe_11
                ret.transmissionType = TransmissionType.automatic
            elif 0x187 in fingerprint[0]:  # EV_Gearshift
                ret.transmissionType = TransmissionType.direct
            else:
                ret.transmissionType = TransmissionType.manual

            if any(msg in fingerprint[1]
                   for msg in (0x40, 0x86, 0xB2,
                               0xFD)):  # Airbag_01, LWI_01, ESP_19, ESP_21
                ret.networkLocation = NetworkLocation.gateway
            else:
                ret.networkLocation = NetworkLocation.fwdCamera

        # Global 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
示例#23
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   car_fw=None):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        ret.carName = "mazda"
        ret.safetyConfigs = [
            get_safety_config(car.CarParams.SafetyModel.mazda)
        ]
        ret.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
示例#24
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):

        ret = car.CarParams.new_message()

        ret.carName = "toyota"
        ret.carFingerprint = candidate
        ret.isPandaBlack = has_relay

        ret.safetyModel = car.CarParams.SafetyModel.toyota

        ret.enableCruise = True

        ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
        ret.steerLimitTimer = 0.4

        if candidate not in [CAR.PRIUS, CAR.RAV4,
                             CAR.RAV4H]:  # These cars use LQR/INDI
            ret.lateralTuning.init('pid')
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]

        if candidate == CAR.PRIUS:
            stop_and_go = True
            ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
            ret.wheelbase = 2.70
            ret.steerRatio = 15.74  # unknown end-to-end spec
            tire_stiffness_factor = 0.6371  # hand-tune
            ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG

            ret.lateralTuning.init('indi')
            ret.lateralTuning.indi.innerLoopGain = 4.0
            ret.lateralTuning.indi.outerLoopGain = 3.0
            ret.lateralTuning.indi.timeConstant = 1.0
            ret.lateralTuning.indi.actuatorEffectiveness = 1.0

            # TODO: Determine if this is better than INDI
            # ret.lateralTuning.init('lqr')
            # ret.lateralTuning.lqr.scale = 1500.0
            # ret.lateralTuning.lqr.ki = 0.01

            # ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            # ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            # ret.lateralTuning.lqr.c = [1., 0.]
            # ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
            # ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
            # ret.lateralTuning.lqr.dcGain = 0.002237852961363602

            ret.steerActuatorDelay = 0.5

        elif candidate in [CAR.RAV4, CAR.RAV4H]:
            stop_and_go = True if (candidate in CAR.RAV4H) else False
            ret.safetyParam = 73
            ret.wheelbase = 2.65
            ret.steerRatio = 16.88  # 14.5 is spec end-to-end
            tire_stiffness_factor = 0.5533
            ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.init('lqr')

            ret.lateralTuning.lqr.scale = 1500.0
            ret.lateralTuning.lqr.ki = 0.05

            ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
            ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
            ret.lateralTuning.lqr.c = [1., 0.]
            ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
            ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
            ret.lateralTuning.lqr.dcGain = 0.002237852961363602

        elif candidate == CAR.COROLLA:
            stop_and_go = False
            ret.safetyParam = 100
            ret.wheelbase = 2.70
            ret.steerRatio = 18.27
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
                                                                    [0.05]]
            ret.lateralTuning.pid.kf = 0.00003  # full torque for 20 deg at 80mph means 0.00007818594

        elif candidate == CAR.LEXUS_RXH:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.79
            ret.steerRatio = 16.  # 14.8 is spec end-to-end
            tire_stiffness_factor = 0.444  # not optimized yet
            ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00006  # full torque for 10 deg at 80mph means 0.00007818594

        elif candidate in [CAR.CHR, CAR.CHRH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.63906
            ret.steerRatio = 13.6
            tire_stiffness_factor = 0.7933
            ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723],
                                                                    [0.0428]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.82448
            ret.steerRatio = 13.7
            tire_stiffness_factor = 0.7933
            ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  #mean between normal and hybrid
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.78
            ret.steerRatio = 16.0
            tire_stiffness_factor = 0.8
            ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  #mean between normal and hybrid limited
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.18
            ], [0.015]]  # community tuning
            ret.lateralTuning.pid.kf = 0.00012  # community tuning

        elif candidate == CAR.AVALON:
            stop_and_go = False
            ret.safetyParam = 73
            ret.wheelbase = 2.82
            ret.steerRatio = 14.8  #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
            tire_stiffness_factor = 0.7983
            ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17],
                                                                    [0.03]]
            ret.lateralTuning.pid.kf = 0.00006

        elif candidate == CAR.RAV4_TSS2:
            stop_and_go = True
            ret.safetyParam = 73
            ret.wheelbase = 2.68986
            ret.steerRatio = 14.3
            tire_stiffness_factor = 0.7933
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.1]]
            ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
            ret.lateralTuning.pid.kf = 0.00007818594

        elif candidate 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.OLD_CAR:
            stop_and_go = True
            ret.safetyParam = 100
            ret.wheelbase = 2.455
            ret.steerRatio = 13.0
            tire_stiffness_factor = 0.444
            ret.mass = 6200.0
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                    [0.05]]
            ret.lateralTuning.pid.kf = 0.00003  # full torque for 20 deg at 80mph means 0.00007818594

        ret.steerRateCost = 1.
        ret.centerToFront = ret.wheelbase * 0.44

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [16. * CV.KPH_TO_MS,
                          45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph
        ret.steerMaxV = [1., 1.]  # 2/3rd torque allowed above 45 kph
        ret.brakeMaxBP = [0.]
        ret.brakeMaxV = [1.]

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               ECU.CAM) or has_relay
        # In TSS2 cars the camera does long control
        ret.enableDsu = is_ecu_disconnected(
            fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate,
            ECU.DSU) and candidate not in TSS2_CAR
        ret.enableApgs = False  # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
        ret.enableGasInterceptor = True  #0x201 in fingerprint[0]
        ret.openpilotLongitudinalControl = ret.enableCamera and (
            ret.enableDsu or candidate in TSS2_CAR)
        cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
        cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
        cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
        cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)

        # min speed to enable ACC. if car can do stop and go, then set enabling speed
        # to a negative value, so it won't matter.
        ret.minEnableSpeed = -1. if (
            stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS

        # removing the DSU disables AEB and it's considered a community maintained feature
        ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu

        ret.longitudinalTuning.deadzoneBP = [0., 9.]
        ret.longitudinalTuning.deadzoneV = [0., .15]
        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.stoppingControl = False
        ret.startAccel = 0.0

        if ret.enableGasInterceptor:
            ret.gasMaxBP = [0., 9., 35]
            ret.gasMaxV = [0.2, 0.5, 0.7]
            ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
            ret.longitudinalTuning.kiV = [0.18, 0.12]
        else:
            ret.gasMaxBP = [0.]
            ret.gasMaxV = [0.5]
            ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
            ret.longitudinalTuning.kiV = [0.54, 0.36]

        return ret
示例#25
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):

        ret = car.CarParams.new_message()

        ret.carName = "hyundai"
        ret.carFingerprint = candidate
        ret.isPandaBlack = has_relay
        ret.radarOffCan = True
        ret.safetyModel = car.CarParams.SafetyModel.hyundai
        ret.enableCruise = True  # stock acc

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.4
        tire_stiffness_factor = 1.

        if candidate == CAR.SANTA_FE:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.766

            # Values from optimizer
            ret.steerRatio = 16.55  # 13.8 is spec end-to-end
            tire_stiffness_factor = 0.82

            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
                9., 22.
            ], [9., 22.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.2, 0.35
            ], [0.05, 0.09]]
            ret.minSteerSpeed = 0.
        elif candidate == CAR.KIA_SORENTO:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1985. + STD_CARGO_KG
            ret.wheelbase = 2.78
            ret.steerRatio = 14.4 * 1.1  # 10% higher at the center seems reasonable
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
            ret.minSteerSpeed = 0.
        elif candidate == CAR.ELANTRA:
            ret.lateralTuning.pid.kf = 0.00006
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73  #Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
            ret.minSteerSpeed = 32 * CV.MPH_TO_MS
        elif candidate == CAR.GENESIS:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 2060. + STD_CARGO_KG
            ret.wheelbase = 3.01
            ret.steerRatio = 16.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
                                                                    [0.01]]
            ret.minSteerSpeed = 35 * CV.MPH_TO_MS
        elif candidate == CAR.KIA_OPTIMA:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
        elif candidate == CAR.KIA_STINGER:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1825. + STD_CARGO_KG
            ret.wheelbase = 2.78
            ret.steerRatio = 14.4 * 1.15  # 15% higher at the center seems reasonable
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25],
                                                                    [0.05]]
            ret.minSteerSpeed = 0.

        ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
        ret.longitudinalTuning.kpBP = [0.]
        ret.longitudinalTuning.kpV = [0.]
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [0.]
        ret.steerMaxV = [1.0]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [1.]
        ret.brakeMaxBP = [0.]
        ret.brakeMaxV = [1.]

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               Ecu.fwdCamera) or has_relay
        ret.openpilotLongitudinalControl = False

        ret.stoppingControl = False
        ret.startAccel = 0.0

        return ret
示例#26
0
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

        ret.openpilotLongitudinalControl = Params().get_bool(
            'LongControlEnabled')

        ret.carName = "hyundai"
        ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
        if candidate in [CAR.SONATA]:
            ret.safetyModel = car.CarParams.SafetyModel.hyundai

        # Most Hyundai car ports are community features for now
        ret.communityFeature = True

        tire_stiffness_factor = 1.

        eps_modified = False
        for fw in car_fw:
            if fw.ecu == "eps" and b"," in fw.fwVersion:
                eps_modified = True

        ret.maxSteeringAngleDeg = 90.

        # lateral
        ret.lateralTuning.init('lqr')

        ret.lateralTuning.lqr.scale = 1700.
        ret.lateralTuning.lqr.ki = 0.01
        ret.lateralTuning.lqr.dcGain = 0.0028

        ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
        ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
        ret.lateralTuning.lqr.c = [1., 0.]
        ret.lateralTuning.lqr.k = [-110., 451.]
        ret.lateralTuning.lqr.l = [0.33, 0.318]

        ret.steerRatio = 16.5
        ret.steerActuatorDelay = 0.1
        ret.steerLimitTimer = 2.5
        ret.steerRateCost = 0.4
        ret.steerMaxBP = [0.]
        ret.steerMaxV = [1.5]

        # longitudinal
        ret.longitudinalTuning.kpBP = [
            0., 10. * CV.KPH_TO_MS, 20. * CV.KPH_TO_MS, 40. * CV.KPH_TO_MS,
            70. * CV.KPH_TO_MS, 100. * CV.KPH_TO_MS, 130. * CV.KPH_TO_MS
        ]
        ret.longitudinalTuning.kpV = [1.3, 0.98, 0.83, 0.75, 0.655, 0.57, 0.48]
        ret.longitudinalTuning.kiBP = [0., 130. * CV.KPH_TO_MS]
        ret.longitudinalTuning.kiV = [0.05, 0.03]
        ret.longitudinalTuning.deadzoneBP = [0., 100. * CV.KPH_TO_MS]
        ret.longitudinalTuning.deadzoneV = [0., 0.015]
        ret.longitudinalActuatorDelay = 0.2

        ret.stoppingDecelRate = 0.6  # m/s^2/s while trying to stop
        ret.startingAccelRate = 3.2  # m/s^2/s while trying to start

        # genesis
        if candidate == CAR.GENESIS:
            ret.mass = 1900. + STD_CARGO_KG
            ret.wheelbase = 3.01
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.GENESIS_G70:
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.84
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.GENESIS_G80:
            ret.mass = 1855. + STD_CARGO_KG
            ret.wheelbase = 3.01
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.GENESIS_EQ900:
            ret.mass = 2200
            ret.wheelbase = 3.15
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.GENESIS_EQ900_L:
            ret.mass = 2290
            ret.wheelbase = 3.45
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.GENESIS_G90:
            ret.mass = 2150
            ret.wheelbase = 3.16
            ret.centerToFront = ret.wheelbase * 0.4
        # hyundai
        elif candidate in [CAR.SANTA_FE]:
            ret.mass = 1694 + STD_CARGO_KG
            ret.wheelbase = 2.766
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.SONATA, CAR.SONATA_HEV, CAR.SONATA21_HEV]:
            ret.mass = 1513. + STD_CARGO_KG
            ret.wheelbase = 2.84
            ret.centerToFront = ret.wheelbase * 0.4
            tire_stiffness_factor = 0.65
        elif candidate in [CAR.SONATA19, CAR.SONATA19_HEV]:
            ret.mass = 4497. * CV.LB_TO_KG
            ret.wheelbase = 2.804
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.SONATA_LF_TURBO:
            ret.mass = 1590. + STD_CARGO_KG
            ret.wheelbase = 2.805
            tire_stiffness_factor = 0.65
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.PALISADE:
            ret.mass = 1999. + STD_CARGO_KG
            ret.wheelbase = 2.90
            ret.centerToFront = ret.wheelbase * 0.4
            if eps_modified:
                ret.maxSteeringAngleDeg = 1000.
        elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.ELANTRA_2021:
            ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
            ret.wheelbase = 2.72
            ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
            tire_stiffness_factor = 0.65
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.ELANTRA_HEV_2021:
            ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
            ret.wheelbase = 2.72
            ret.steerRatio = 13.27 * 1.15  # 15% higher at the center seems reasonable
            tire_stiffness_factor = 0.65
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.KONA:
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.KONA_HEV, CAR.KONA_EV]:
            ret.mass = 1395. + STD_CARGO_KG
            ret.wheelbase = 2.6
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [
                CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV
        ]:
            ret.mass = 1490. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.385
            #if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]:
            #  ret.minSteerSpeed = 32 * CV.MPH_TO_MS
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.GRANDEUR_IG, CAR.GRANDEUR_IG_HEV]:
            tire_stiffness_factor = 0.8
            ret.mass = 1640. + STD_CARGO_KG
            ret.wheelbase = 2.845
            ret.maxSteeringAngleDeg = 120.
            ret.centerToFront = ret.wheelbase * 0.385
        elif candidate in [CAR.GRANDEUR_IG_FL, CAR.GRANDEUR_IG_FL_HEV]:
            tire_stiffness_factor = 0.8
            ret.mass = 1725. + STD_CARGO_KG
            ret.wheelbase = 2.885
            ret.maxSteeringAngleDeg = 120.
            ret.centerToFront = ret.wheelbase * 0.385
        elif candidate == CAR.VELOSTER:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.9
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.TUCSON_TL_SCC:
            ret.mass = 1594. + STD_CARGO_KG  #1730
            ret.wheelbase = 2.67
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
            ret.maxSteeringAngleDeg = 120.
            ret.startAccel = 0.5
        # kia
        elif candidate == CAR.SORENTO:
            ret.mass = 1985. + STD_CARGO_KG
            ret.wheelbase = 2.78
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.K5, CAR.K5_HEV]:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.STINGER:
            tire_stiffness_factor = 1.125  # LiveParameters (Tunder's 2020)
            ret.mass = 1825.0 + STD_CARGO_KG
            ret.wheelbase = 2.906
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.FORTE:
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.CEED:
            ret.mass = 1350. + STD_CARGO_KG
            ret.wheelbase = 2.65
            tire_stiffness_factor = 0.6
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.SPORTAGE:
            ret.mass = 1985. + STD_CARGO_KG
            ret.wheelbase = 2.78
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.NIRO_EV, CAR.NIRO_HEV, CAR.NIRO21_HEV]:
            ret.mass = 1737. + STD_CARGO_KG
            ret.wheelbase = 2.7
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate in [CAR.K7, CAR.K7_HEV]:
            tire_stiffness_factor = 0.7
            ret.mass = 1650. + STD_CARGO_KG
            ret.wheelbase = 2.855
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.SELTOS:
            ret.mass = 1310. + STD_CARGO_KG
            ret.wheelbase = 2.6
            tire_stiffness_factor = 0.7
            ret.centerToFront = ret.wheelbase * 0.4
        elif candidate == CAR.K9:
            ret.mass = 2005. + STD_CARGO_KG
            ret.wheelbase = 3.15
            ret.centerToFront = ret.wheelbase * 0.4
            tire_stiffness_factor = 0.8

        ret.radarTimeStep = 0.05

        if ret.centerToFront == 0:
            ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        ret.stoppingControl = True

        ret.enableBsm = 0x58b in fingerprint[0]
        ret.enableAutoHold = 1151 in fingerprint[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

        if ret.sccBus >= 0:
            ret.hasScc13 = 1290 in fingerprint[ret.sccBus]
            ret.hasScc14 = 905 in fingerprint[ret.sccBus]

        ret.hasEms = 608 in fingerprint[0] and 809 in fingerprint[0]

        print('fingerprint', fingerprint)

        ret.radarOffCan = ret.sccBus == -1
        ret.pcmCruise = not ret.radarOffCan

        # set safety_hyundai_community only for non-SCC, MDPS harrness or SCC harrness cars or cars that have unknown issue
        if ret.radarOffCan or ret.mdpsBus == 1 or ret.openpilotLongitudinalControl or ret.sccBus == 1 or Params(
        ).get_bool('MadModeEnabled'):
            ret.safetyModel = car.CarParams.SafetyModel.hyundaiCommunity
        return ret
示例#27
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint,
                                              has_relay)

        ret = car.CarParams.new_message()

        ret.carName = "hyundai"
        ret.carFingerprint = candidate
        ret.isPandaBlack = has_relay
        ret.safetyModel = car.CarParams.SafetyModel.hyundai
        ret.enableCruise = True  # stock acc

        # Hyundai port is a community feature for now
        ret.communityFeature = False

        ret.steerActuatorDelay = 0.1  # Default delay
        ret.steerRateCost = 0.45
        ret.steerLimitTimer = 0.8
        tire_stiffness_factor = 0.75

        if candidate in [CAR.SANTAFE, CAR.SANTAFE_1]:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1830. + STD_CARGO_KG
            ret.wheelbase = 2.765
            # Values from optimizer
            ret.steerRatio = 13.8  # 13.8 is spec end-to-end
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate in [CAR.AVANTE, CAR.I30]:
            ret.lateralTuning.pid.kf = 0.00006
            ret.mass = 1275. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73  #Spec
            tire_stiffness_factor = 0.385
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
            ret.mass = 2200
            ret.wheelbase = 3.15
            ret.steerRatio = 12.069
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate in [CAR.K5_HYBRID, CAR.SONATA_HYBRID]:
            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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate in [CAR.GRANDEUR_HYBRID, CAR.K7_HYBRID]:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1675. + STD_CARGO_KG
            ret.wheelbase = 2.885
            ret.steerRatio = 12.5
            ret.steerRateCost = 0.4
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate == CAR.NIRO:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 1425. + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.steerRatio = 13.73  #Spec
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        elif candidate == CAR.K3:
            ret.lateralTuning.pid.kf = 0.00005
            ret.mass = 3558. * CV.LB_TO_KG
            ret.wheelbase = 2.80
            ret.steerRatio = 13.75
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.],
                                                                      [0.]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]
        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 = [[0.05],
                                                                    [0.01]]

        ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this

        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.18, 0.12]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.centerToFront = ret.wheelbase * 0.4

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.torque

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [0.]
        ret.steerMaxV = [1.0]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [0., 20.]
        ret.brakeMaxV = [1., 0.8]

        ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS,
                                               ECU_FINGERPRINT, candidate,
                                               Ecu.fwdCamera) or has_relay
        ret.openpilotLongitudinalControl = False

        ret.stoppingControl = True
        ret.startAccel = 0.0

        # ignore CAN2 address if L-CAN on the same BUS
        ret.mdpsBus = 1 if 593 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sasBus = 1 if 688 in fingerprint[1] and 1296 not in fingerprint[
            1] else 0
        ret.sccBus = 0 if 1056 in fingerprint[0] else 1 if 1056 in fingerprint[1] and 1296 not in fingerprint[1] \
                                                                         else 2 if 1056 in fingerprint[2] else -1
        ret.autoLcaEnabled = 1

        return ret
示例#28
0
    def get_params(candidate,
                   fingerprint=gen_empty_fingerprint(),
                   has_relay=False,
                   car_fw=[]):
        ret = car.CarParams.new_message()

        ret.carName = "gm"
        ret.carFingerprint = candidate
        ret.isPandaBlack = has_relay

        ret.enableCruise = False
        # 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 or \
                           candidate == CAR.CADILLAC_CT6
        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 = 8 * CV.MPH_TO_MS
            ret.mass = 1607. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.69
            ret.steerRatio = 15.7
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # wild guess
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.12],
                                                                    [0.05]]
            ret.steerRateCost = 0.7

        elif candidate == CAR.MALIBU:
            # supports stop and go, but initial engage must be above 18mph (which include conservatism)
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 1496. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.83
            ret.steerRatio = 15.8
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # wild guess

        elif candidate == CAR.HOLDEN_ASTRA:
            ret.mass = 1363. + STD_CARGO_KG
            ret.wheelbase = 2.662
            # Remaining parameters copied from Volt for now
            ret.centerToFront = ret.wheelbase * 0.4
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.steerRatio = 15.7
            ret.steerRatioRear = 0.

        elif candidate == CAR.ACADIA:
            ret.minEnableSpeed = -1.  # engage speed is decided by pcm
            ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.86
            ret.steerRatio = 14.4  #end to end is 13.46
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4

        elif candidate == CAR.BUICK_REGAL:
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.83  #111.4 inches in meters
            ret.steerRatio = 14.4  # guess for tourx
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx

        elif candidate == CAR.CADILLAC_ATS:
            ret.minEnableSpeed = 18 * CV.MPH_TO_MS
            ret.mass = 1601. + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.gm
            ret.wheelbase = 2.78
            ret.steerRatio = 15.3
            ret.steerRatioRear = 0.
            ret.centerToFront = ret.wheelbase * 0.49

        elif candidate == CAR.CADILLAC_CT6:
            # engage speed is decided by pcm
            ret.minEnableSpeed = -1.
            ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
            ret.safetyModel = car.CarParams.SafetyModel.cadillac
            ret.wheelbase = 3.11
            ret.steerRatio = 14.6  # it's 16.3 without rear active steering
            ret.steerRatioRear = 0.  # TODO: there is RAS on this car!
            ret.centerToFront = ret.wheelbase * 0.465

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        ret.steerMaxBP = [0.]  # m/s
        ret.steerMaxV = [1.]
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [0.]
        ret.brakeMaxV = [1.]

        ret.longitudinalTuning.kpBP = [5., 35.]
        ret.longitudinalTuning.kpV = [2.4, 1.5]
        ret.longitudinalTuning.kiBP = [0.]
        ret.longitudinalTuning.kiV = [0.36]
        ret.longitudinalTuning.deadzoneBP = [0.]
        ret.longitudinalTuning.deadzoneV = [0.]

        ret.stoppingControl = True
        ret.startAccel = 0.8

        ret.steerLimitTimer = 0.4
        ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
        ret.steerControlType = car.CarParams.SteerControlType.torque

        return ret
示例#29
0
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
        ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
        ret.carName = "honda"

        if candidate in HONDA_BOSCH:
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.hondaBoschHarness)
            ]
            ret.radarOffCan = True

            # Disable the radar and let openpilot control longitudinal
            # WARNING: THIS DISABLES AEB!
            ret.openpilotLongitudinalControl = Params().get_bool(
                "DisableRadar")

            ret.pcmCruise = not ret.openpilotLongitudinalControl
        else:
            ret.safetyConfigs = [
                get_safety_config(car.CarParams.SafetyModel.hondaNidec)
            ]
            ret.enableGasInterceptor = 0x201 in fingerprint[0]
            ret.openpilotLongitudinalControl = True

            ret.pcmCruise = not ret.enableGasInterceptor
            ret.communityFeature = ret.enableGasInterceptor

        if candidate == CAR.CRV_5G:
            ret.enableBsm = 0x12f8bfa7 in fingerprint[0]

        # Accord 1.5T CVT has different gearbox message
        if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
            ret.transmissionType = TransmissionType.cvt

        # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
        # which improves controls quality as it removes the steering column torsion from feedback.
        # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
        # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward

        if candidate in HONDA_BOSCH:
            ret.longitudinalTuning.kpV = [0.25]
            ret.longitudinalTuning.kiV = [0.05]
            ret.longitudinalActuatorDelayUpperBound = 0.5  # s
        else:
            # default longitudinal tuning for all hondas
            ret.longitudinalTuning.kpBP = [0., 5., 35.]
            ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
            ret.longitudinalTuning.kiBP = [0., 35.]
            ret.longitudinalTuning.kiV = [0.18, 0.12]

        eps_modified = False
        for fw in car_fw:
            if fw.ecu == "eps" and b"," in fw.fwVersion:
                eps_modified = True

        if candidate == CAR.CIVIC:
            stop_and_go = True
            ret.mass = CivicParams.MASS
            ret.wheelbase = CivicParams.WHEELBASE
            ret.centerToFront = CivicParams.CENTER_TO_FRONT
            ret.steerRatio = 15.38  # 10.93 is end-to-end spec
            if eps_modified:
                # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
                # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
                # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
                # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
                # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
                # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
                    0, 2560, 8000
                ], [0, 2560, 3840]]
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                        [0.1]]
            else:
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
                    0, 2560
                ], [0, 2560]]
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1],
                                                                        [0.33]]
            tire_stiffness_factor = 1.

        elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
            stop_and_go = True
            ret.mass = CivicParams.MASS
            ret.wheelbase = CivicParams.WHEELBASE
            ret.centerToFront = CivicParams.CENTER_TO_FRONT
            ret.steerRatio = 15.38  # 10.93 is end-to-end spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 1.
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                    [0.24]]

        elif candidate in (CAR.ACCORD, CAR.ACCORDH):
            stop_and_go = True
            ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.83
            ret.centerToFront = ret.wheelbase * 0.39
            ret.steerRatio = 16.33  # 11.82 is spec end-to-end
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.8467

            if eps_modified:
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3],
                                                                        [0.09]]
            else:
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                        [0.18]]

        elif candidate == CAR.ACURA_ILX:
            stop_and_go = False
            ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.67
            ret.centerToFront = ret.wheelbase * 0.37
            ret.steerRatio = 18.61  # 15.3 is spec end-to-end
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 3840], [0, 3840]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.72
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                    [0.24]]

        elif candidate in (CAR.CRV, CAR.CRV_EU):
            stop_and_go = False
            ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.62
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 16.89  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 1000], [0, 1000]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.444
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                    [0.24]]

        elif candidate == CAR.CRV_5G:
            stop_and_go = True
            ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.66
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 16.0  # 12.3 is spec end-to-end
            if eps_modified:
                # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
                # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
                # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
                    0, 2560, 10000
                ], [0, 2560, 3840]]
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21],
                                                                        [0.07]]
            else:
                ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[
                    0, 3840
                ], [0, 3840]]
                ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                    0.64
                ], [0.192]]
            tire_stiffness_factor = 0.677

        elif candidate == CAR.CRV_HYBRID:
            stop_and_go = True
            ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
            ret.wheelbase = 2.66
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 16.0  # 12.3 is spec end-to-end
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.677
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.18]]

        elif candidate == CAR.FIT:
            stop_and_go = False
            ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.53
            ret.centerToFront = ret.wheelbase * 0.39
            ret.steerRatio = 13.06
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.75
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
                                                                    [0.05]]

        elif candidate == CAR.FREED:
            stop_and_go = False
            ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.74
            # the remaining parameters were copied from FIT
            ret.centerToFront = ret.wheelbase * 0.39
            ret.steerRatio = 13.06
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
                                                                     [0, 4096]]
            tire_stiffness_factor = 0.75
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2],
                                                                    [0.05]]

        elif candidate == CAR.HRV:
            stop_and_go = False
            ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.61
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 15.2
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096],
                                                                     [0, 4096]]
            tire_stiffness_factor = 0.5
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16],
                                                                    [0.025]]

        elif candidate == CAR.ACURA_RDX:
            stop_and_go = False
            ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.68
            ret.centerToFront = ret.wheelbase * 0.38
            ret.steerRatio = 15.0  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 1000], [0, 1000]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.444
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8],
                                                                    [0.24]]

        elif candidate == CAR.ACURA_RDX_3G:
            stop_and_go = True
            ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.75
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 11.95  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840],
                                                                     [0, 3840]]
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.18]]
            tire_stiffness_factor = 0.677

        elif candidate == CAR.ODYSSEY:
            stop_and_go = False
            ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 3.00
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 14.35  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28],
                                                                    [0.08]]

        elif candidate == CAR.ODYSSEY_CHN:
            stop_and_go = False
            ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
            ret.wheelbase = 2.90
            ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
            ret.steerRatio = 14.35
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 32767], [0, 32767]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28],
                                                                    [0.08]]

        elif candidate in (CAR.PILOT, CAR.PILOT_2019):
            stop_and_go = False
            ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
            ret.wheelbase = 2.82
            ret.centerToFront = ret.wheelbase * 0.428
            ret.steerRatio = 17.25  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.444
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
                                                                    [0.11]]

        elif candidate == CAR.PASSPORT:
            stop_and_go = False
            ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
            ret.wheelbase = 2.82
            ret.centerToFront = ret.wheelbase * 0.428
            ret.steerRatio = 17.25  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.444
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
                                                                    [0.11]]

        elif candidate == CAR.RIDGELINE:
            stop_and_go = False
            ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 3.18
            ret.centerToFront = ret.wheelbase * 0.41
            ret.steerRatio = 15.59  # as spec
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.444
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38],
                                                                    [0.11]]

        elif candidate == CAR.INSIGHT:
            stop_and_go = True
            ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.7
            ret.centerToFront = ret.wheelbase * 0.39
            ret.steerRatio = 15.0  # 12.58 is spec end-to-end
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6],
                                                                    [0.18]]

        elif candidate == CAR.HONDA_E:
            stop_and_go = True
            ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
            ret.wheelbase = 2.5
            ret.centerToFront = ret.wheelbase * 0.5
            ret.steerRatio = 16.71
            ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [
                [0, 4096], [0, 4096]
            ]  # TODO: determine if there is a dead zone at the top end
            tire_stiffness_factor = 0.82
            ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[
                0.6
            ], [0.18]]  # TODO: can probably use some tuning

        else:
            raise ValueError("unsupported car %s" % candidate)

        # These cars use alternate user brake msg (0x1BE)
        if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
            ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE

        if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
            ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG

        # min speed to enable ACC. if car can do stop and go, then set enabling speed
        # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
        # conflict with PCM acc
        ret.minEnableSpeed = -1. if (
            stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        ret.steerActuatorDelay = 0.1
        ret.steerRateCost = 0.5
        ret.steerLimitTimer = 0.8

        return ret
示例#30
0
    def get_params(candidate, fingerprint, vin=""):

        ret = car.CarParams.new_message()

        ret.carName = "ford"
        ret.carFingerprint = candidate
        ret.carVin = vin

        ret.safetyModel = car.CarParams.SafetyModel.ford

        # pedal
        ret.enableCruise = True

        ret.wheelbase = 2.85
        ret.steerRatio = 14.8
        ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [
            0.005
        ]]  # TODO: tune this
        ret.lateralTuning.pid.kf = 1. / MAX_ANGLE  # MAX Steer angle to normalize FF
        ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
        ret.steerRateCost = 1.0
        ret.centerToFront = ret.wheelbase * 0.44
        tire_stiffness_factor = 0.5328

        # min speed to enable ACC. if car can do stop and go, then set enabling speed
        # to a negative value, so it won't matter.
        ret.minEnableSpeed = -1.

        # TODO: get actual value, for now starting with reasonable value for
        # civic and scaling by mass and wheelbase
        ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

        # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
        # mass and CG position, so all cars will have approximately similar dyn behaviors
        ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(
            ret.mass,
            ret.wheelbase,
            ret.centerToFront,
            tire_stiffness_factor=tire_stiffness_factor)

        # no rear steering, at least on the listed cars above
        ret.steerRatioRear = 0.
        ret.steerControlType = car.CarParams.SteerControlType.angle

        # steer, gas, brake limitations VS speed
        ret.steerMaxBP = [0.]  # breakpoints at 1 and 40 kph
        ret.steerMaxV = [1.0]  # 2/3rd torque allowed above 45 kph
        ret.gasMaxBP = [0.]
        ret.gasMaxV = [0.5]
        ret.brakeMaxBP = [5., 20.]
        ret.brakeMaxV = [1., 0.8]

        ret.enableCamera = not any(
            x for x in [970, 973, 984] if x in fingerprint)
        ret.openpilotLongitudinalControl = False
        cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)

        ret.steerLimitAlert = False
        ret.stoppingControl = False
        ret.startAccel = 0.0

        ret.longitudinalTuning.deadzoneBP = [0., 9.]
        ret.longitudinalTuning.deadzoneV = [0., .15]
        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.54, 0.36]

        return ret