GM: separate EV/ICE gas/brake lookup tables

selfdrive/car/gm/carcontroller.py

@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -68,8 +68,13 @@ class CarController:
           self.apply_gas = self.params.MAX_ACC_REGEN
           self.apply_brake = 0
         else:
-          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          if self.CP.carFingerprint in EV_CAR:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.EV_GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.EV_BRAKE_LOOKUP_V)))
+            
+          else:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
 
         idx = (self.frame // 4) % 4
 

selfdrive/car/gm/values.py

@@ -38,15 +38,20 @@ class CarControllerParams:
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
+  EV_GAS_BRAKE_THRESHOLD_ACCEL = -1.1
+  ICE_GAS_BRAKE_THRESHOLD_ACCEL = -0.1 # much less engine braking force compared to regen in an EV
 
-  GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  GAS_LOOKUP_BP = [ICE_GAS_BRAKE_THRESHOLD_ACCEL, 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, ICE_GAS_BRAKE_THRESHOLD_ACCEL]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
   
-STEER_THRESHOLD = 1.0
-
+  EV_GAS_LOOKUP_BP = [EV_GAS_BRAKE_THRESHOLD_ACCEL, 0., ACCEL_MAX]
+  EV_GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, EV_GAS_BRAKE_THRESHOLD_ACCEL]
+  EV_BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
+STEER_THRESHOLD = 1.0
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
@@ -56,6 +61,7 @@ class CAR:
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
 
+EV_CAR = {CAR.VOLT}
 
 class Footnote(Enum):
   OBD_II = CarFootnote(