From ae423a68686ca258c40fa679b931011e99f5f780 Mon Sep 17 00:00:00 2001 From: koch-cf <62287055+koch-cf@users.noreply.github.com> Date: Mon, 20 Mar 2023 16:10:19 -0400 Subject: [PATCH] GM: Buick LaCrosse 2017-19 support (#27332) * Added Buick LaCrosse 2017 * Added Buick LaCrosse as candidate * Added Buick LaCrosse CAR_INFO and Fingerprint * Added Buick LaCrosse to non_tested_cars * Added Buick LaCrosse * Updated number of supported cars to 237 * Added ACC and LKAS description to Buick LaCrosse * Updated CAR_INFO for Buick LaCrosse * Added the Escalade which was recently updated * Update selfdrive/car/gm/values.py Suggested fingerprint by @sshane Co-authored-by: Shane Smiskol * Premium is a trim with ACC. Use package name instead * lacrosse custom FF; fit info: describe(steer_offsets) = DescribeResult(nobs=1649402, minmax=(-0.7127894163131714, 5.3997602462768555), mean=3.3090523060153645, variance=0.3130325564084465, skewness=-1.5986155151533736, kurtosis=8.18810418298873) Samples: 1357787 Regularizing... Regularized samples: 1140 speed: DescribeResult(nobs=1140, minmax=(8.478170424241286, 35.837870224662446), mean=27.888804767013475, variance=34.16742353763829, skewness=-1.068587303119431, kurtosis=0.6193071765927134) angle: DescribeResult(nobs=1140, minmax=(-21.057768565637094, 28.516874490999708), mean=-0.4328602593886506, variance=43.19046813273241, skewness=0.001966426701503317, kurtosis=0.20547357649038434) steer: DescribeResult(nobs=1140, minmax=(-0.8432471203007578, 0.9634959333674695), mean=-0.021981142946747863, variance=0.20152217060233915, skewness=0.03202313890158864, kurtosis=-1.2318826088567174) Performing fit... Fit: [5.85397825e-01 3.27650818e-01 4.60531117e-03 1.32307599e+01 1.37194709e-01 1.33099557e-01 6.14782304e-02] ANGLE_COEF = 0.58539783 ANGLE_COEF2 = 0.32765082 ANGLE_OFFSET = 0.00460531 SPEED_OFFSET = 13.23075991 SIGMOID_COEF_RIGHT = 0.13719471 SIGMOID_COEF_LEFT = 0.13309956 SPEED_COEF = 0.06147823 MAE old 0.2098, new 0.0309 STD old 0.1021, new 0.0273 deg 00-03:457, deg 03-06:258, deg 06-09:218, deg 09-12:132, deg 12-15:62 deg 15-18:6, deg 18-21:4, deg 21-24:1, deg 24-27:0, deg 27-30:2 deg 30-33:0, deg 33-36:0, deg 36-39:0, deg 39-42:0, deg 42-45:0 mph 10-15:0, mph 15-20:1, mph 20-25:18, mph 25-30:12, mph 30-35:30 mph 35-40:26, mph 40-45:52, mph 45-50:54, mph 50-55:73, mph 55-60:86 mph 60-65:204, mph 65-70:228, mph 70-75:179, mph 75-80:176, mph 80-85:1 mph 85-90:0, * Update routes.py * remove from non tested routes * use torque controller * update docs * update releases --------- Co-authored-by: Shane Smiskol Co-authored-by: Tim Wilson --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/gm/interface.py | 7 +++++++ selfdrive/car/gm/values.py | 7 +++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 6 files changed, 19 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 9cfcbafea..55b0dbad7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Buick LaCrosse 2017-19 support thanks to koch-cf! * Škoda Fabia 2022-23 support thanks to jyoung8607! Version 0.9.1 (2023-02-28) diff --git a/docs/CARS.md b/docs/CARS.md index 070d068ca..c4a3cedfe 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 238 Supported Cars +# 239 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7e6e71c64..602d7e31b 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -150,6 +150,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + elif candidate == CAR.BUICK_LACROSSE: + ret.mass = 1712. + STD_CARGO_KG + 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 + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 2ac418b62..0d13cb982 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -66,6 +66,7 @@ class CAR: 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" @@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { 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"), @@ -156,6 +158,11 @@ FINGERPRINTS = { { 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 }], + CAR.BUICK_LACROSSE: [ + # LaCrosse Premium AWD 2017 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 { diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 2c4ec84e8..4dd19d24e 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -52,6 +52,7 @@ routes = [ CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), + CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 696d9829d..5feef1220 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -50,6 +50,7 @@ HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 HONDA E 2020: HONDA CIVIC (BOSCH) 2019 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 +BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017