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GM: move to platform config (#31553)

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* subaru platform config

* forester wrong dbc

* spacing

* subaru car specs

* someday!

* more red diff

* Move GM to platform config

* Implement CarSpecs

* Simplify centerToFront

* Accidentally had subaru DBC

* Fix typo in DBC name

* done above

* two spaces

* that is moved up

* fix hardcoded fingerprints

* whitespace

* values

* better?

* fix

* bump

* fix

* fix

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
old-commit-hash: 5012e15aa6
vw-mqb-aeb
Eric Brown 2 years ago committed by GitHub
parent 5cb007daf3
commit 0f78a52a22
5 changed files with 90 additions and 109 deletions
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  1. 1
      selfdrive/car/__init__.py
  2. 61
      selfdrive/car/gm/interface.py
  3. 133
      selfdrive/car/gm/values.py
  4. 1
      selfdrive/car/interfaces.py
  5. 3
      selfdrive/car/subaru/interface.py

1
selfdrive/car/__init__.py
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@ -251,6 +251,7 @@ class CarSpecs:
mass: float
wheelbase: float
steerRatio: float
centerToFrontRatio: float = field(default=0.5)
minSteerSpeed: float = field(default=0.)
minEnableSpeed: float = field(default=-1.)

61
selfdrive/car/gm/interface.py
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@ -152,11 +152,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT:
ret.mass = 1607.
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
@ -165,61 +161,20 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
ret.mass = 1496.
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363.
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.7
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712.
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601.
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739.
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
if candidate == CAR.ESCALADE_ESV:
@ -231,19 +186,11 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BOLT_EUV:
ret.mass = 1669.
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.mass = 2450.
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
@ -253,17 +200,9 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
ret.mass = 3500. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER:
ret.mass = 1345.
ret.wheelbase = 2.64
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

133
selfdrive/car/gm/values.py
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@ -1,9 +1,8 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from dataclasses import dataclass, field
from enum import Enum
from cereal import car
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -61,23 +60,6 @@ class CarControllerParams:
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR(StrEnum):
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_LACROSSE = "BUICK LACROSSE 2017"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE = "CADILLAC ESCALADE 2017"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
@ -97,28 +79,88 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
CAR_INFO: dict[str, GMCarInfo | list[GMCarInfo]] = {
CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EUV: [
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
}
@dataclass
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"),
specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45),
)
CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"),
specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"),
specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"),
specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3),
)
ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019",
GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
specs=ESCALADE_ESV.specs,
)
BOLT_EUV = GMPlatformConfig(
"CHEVROLET BOLT EUV 2022",
[
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4),
)
SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020",
[
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3),
)
EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"),
specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"),
specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4),
)
class CruiseButtons:
@ -180,11 +222,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
DBC: dict[str, dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
STEER_THRESHOLD = 1.0
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

1
selfdrive/car/interfaces.py
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@ -118,6 +118,7 @@ class CarInterfaceBase(ABC):
ret.mass = platform_config.specs.mass
ret.wheelbase = platform_config.specs.wheelbase
ret.steerRatio = platform_config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
ret.minEnableSpeed = platform_config.specs.minEnableSpeed
ret.minSteerSpeed = platform_config.specs.minSteerSpeed

3
selfdrive/car/subaru/interface.py
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@ -41,9 +41,6 @@ class CarInterface(CarInterfaceBase):
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.centerToFront = ret.wheelbase * 0.5
if candidate in (CAR.ASCENT, CAR.ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid')

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