Honda Bosch longitudinal tuning (#22407)

* revert changes to standstill logic

* start with mostly open loop

* Revert "revert changes to standstill logic"

This reverts commit d737d858e7708aedaf09cfc068b85398161e9bbe.

* proper clipping

* less lag

* less gas command

* start gas from -0.2

* controls should take care of that

* use CarControllerParams

* switch to braking sooner

* Revert "switch to braking sooner"

This reverts commit cf11dae334ccb369f625d4b13b7cd4176156a446.

* 2.5x more P

* use active

* engage on rising edge

* Revert "engage on rising edge"

This reverts commit c972956cb460eedaff3d0169a40673a6ea933385.

* update ref

selfdrive/car/honda/carcontroller.py

@@ -107,7 +107,7 @@ class CarController():
 
     self.params = CarControllerParams(CP)
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
+  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
@@ -165,9 +165,6 @@ class CarController():
     stopping = actuators.longControlState == LongCtrlState.stopping
     starting = actuators.longControlState == LongCtrlState.starting
 
-    # Prevent rolling backwards
-    accel = -4.0 if stopping else accel
-
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
     # all of this is only relevant for HONDA NIDEC
@@ -214,12 +211,13 @@ class CarController():
         ts = frame * DT_CTRL
 
         if CS.CP.carFingerprint in HONDA_BOSCH:
+          accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
           bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
 
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
-          apply_brake = int(clip(apply_brake * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
+          apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
 
           pcm_override = True

selfdrive/car/honda/hondacan.py

@@ -1,4 +1,4 @@
-from selfdrive.car.honda.values import HONDA_BOSCH, CAR
+from selfdrive.car.honda.values import HONDA_BOSCH, CAR, CarControllerParams
 from selfdrive.config import Conversions as CV
 
 # CAN bus layout with relay
@@ -43,23 +43,23 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
+  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  # no gas = -30000
+  gas_command = gas if active and accel > min_gas_accel else -30000
-  gas_command = gas if enabled and gas > 0 else -30000
+  accel_command = accel if active else 0
-  accel_command = accel if enabled else 0
+  braking = 1 if active and accel < min_gas_accel else 0
-  braking = 1 if enabled and accel < 0 else 0
+  standstill = 1 if active and stopping else 0
-  standstill = 1 if enabled and stopping else 0
+  standstill_release = 1 if active and starting else 0
-  standstill_release = 1 if enabled and starting else 0
 
   acc_control_values = {
     # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
     "CONTROL_ON": control_on,
-    "GAS_COMMAND": gas_command, # used for gas
+    "GAS_COMMAND": gas_command,  # used for gas
-    "ACCEL_COMMAND": accel_command, # used for brakes
+    "ACCEL_COMMAND": accel_command,  # used for brakes
     "BRAKE_LIGHTS": braking,
     "BRAKE_REQUEST": braking,
     "STANDSTILL": standstill,

selfdrive/car/honda/interface.py

@@ -39,7 +39,6 @@ class CarInterface(CarInterfaceBase):
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
       ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
-      ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
@@ -65,11 +64,16 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
-    # default longitudinal tuning for all hondas
+    if candidate in HONDA_BOSCH:
-    ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [0.25]
-    ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
+      ret.longitudinalTuning.kiV = [0.05]
-    ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
-    ret.longitudinalTuning.kiV = [0.18, 0.12]
+    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:
@@ -414,7 +418,7 @@ class CarInterface(CarInterfaceBase):
     else:
       hud_v_cruise = 255
 
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
+    can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                                c.actuators,
                                c.cruiseControl.cancel,
                                hud_v_cruise,

selfdrive/car/honda/values.py

@@ -4,20 +4,31 @@ from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+
 class CarControllerParams():
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  NIDEC_ACCEL_MIN = -4.0 # m/s^2
+  NIDEC_ACCEL_MIN = -4.0  # m/s^2
-  NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+  NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons
+
+  NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
+  NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
+
+  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
+  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
+
+  NIDEC_BRAKE_MAX = 1024 // 4
 
-  BOSCH_ACCEL_MIN = -3.5 # m/s^2
+  BOSCH_ACCEL_MIN = -3.5  # m/s^2
-  BOSCH_ACCEL_MAX = 2.0 # m/s^2
+  BOSCH_ACCEL_MAX = 2.0  # m/s^2
+
+  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
+  BOSCH_GAS_LOOKUP_V = [0, 1600]
 
   def __init__(self, CP):
-    self.BRAKE_MAX = 1024//4
     self.STEER_MAX = CP.lateralParams.torqueBP[-1]
     # mirror of list (assuming first item is zero) for interp of signed request values
     assert(CP.lateralParams.torqueBP[0] == 0)
@@ -25,15 +36,6 @@ class CarControllerParams():
     self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
     self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 
-    self.NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
-    self.NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
-
-    self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
-    self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
-
-    self.BOSCH_GAS_LOOKUP_BP = [0., 2.0]  # 2m/s^2
-    self.BOSCH_GAS_LOOKUP_V = [0, 2000]
-
 
 # Car button codes
 class CruiseButtons:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-641884dca2102fe74e3164f8ce001cf3294b3255
+dc264ed5d283bbfe4dd44c5f65db3eb5cef210eb