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pull/31607/head
Shane Smiskol 1 year ago
parent bd63bea94c
commit 1fa4040033
2 changed files with 13 additions and 41 deletions
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  1. 28
      selfdrive/car/toyota/interface.py
  2. 26
      selfdrive/car/toyota/values.py

28
selfdrive/car/toyota/interface.py
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@ -46,10 +46,6 @@ class CarInterface(CarInterfaceBase):
if candidate == CAR.PRIUS: if candidate == CAR.PRIUS:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG
# Only give steer angle deadzone to for bad angle sensor prius # Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw: for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
@ -61,18 +57,10 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.RAV4, CAR.RAV4H): elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
ret.tireStiffnessFactor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035 ret.wheelSpeedFactor = 1.035
ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHR_TSS2): elif candidate in (CAR.CHR, CAR.CHR_TSS2):
stop_and_go = True stop_and_go = True
@ -83,25 +71,13 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
ret.tireStiffnessFactor = 0.8
ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
# starting from 2019, all Avalon variants have stop and go # starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023): elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
ret.tireStiffnessFactor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0]
@ -126,10 +102,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG
elif candidate == CAR.MIRAI: elif candidate == CAR.MIRAI:
stop_and_go = True stop_and_go = True

26
selfdrive/car/toyota/values.py
Unescape View File

@ -94,7 +94,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Avalon 2017-18"), ToyotaCarInfo("Toyota Avalon 2017-18"),
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
) )
AVALON_2019 = PlatformConfig( AVALON_2019 = PlatformConfig(
"TOYOTA AVALON 2019", "TOYOTA AVALON 2019",
@ -179,7 +179,7 @@ class CAR(Platforms):
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
) )
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA HIGHLANDER 2020", "TOYOTA HIGHLANDER 2020",
@ -187,7 +187,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
], ],
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=HIGHLANDER.specs,
) )
PRIUS = PlatformConfig( PRIUS = PlatformConfig(
"TOYOTA PRIUS 2017", "TOYOTA PRIUS 2017",
@ -197,7 +197,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
], ],
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.70, steerRatio=15.74, tireStiffnessFactor=0.6371), specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
) )
PRIUS_V = PlatformConfig( PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017", "TOYOTA PRIUS v 2017",
@ -221,7 +221,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2017-18") ToyotaCarInfo("Toyota RAV4 2017-18")
], ],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
) )
RAV4H = PlatformConfig( RAV4H = PlatformConfig(
"TOYOTA RAV4 HYBRID 2017", "TOYOTA RAV4 HYBRID 2017",
@ -231,7 +231,7 @@ class CAR(Platforms):
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=RAV4.specs,
) )
RAV4_TSS2 = ToyotaTSS2PlatformConfig( RAV4_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2019", "TOYOTA RAV4 2019",
@ -239,7 +239,7 @@ class CAR(Platforms):
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
], ],
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
) )
RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2022", "TOYOTA RAV4 2022",
@ -249,7 +249,7 @@ class CAR(Platforms):
], ],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.RADAR_ACC, flags=ToyotaFlags.RADAR_ACC,
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=RAV4_TSS2.specs,
) )
RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2023", "TOYOTA RAV4 2023",
@ -259,7 +259,7 @@ class CAR(Platforms):
], ],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=RAV4_TSS2.specs,
) )
MIRAI = ToyotaTSS2PlatformConfig( MIRAI = ToyotaTSS2PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5 "TOYOTA MIRAI 2021", # TSS 2.5
@ -318,7 +318,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX Hybrid 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
) )
LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS NX 2020", "LEXUS NX 2020",
@ -326,7 +326,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus NX 2020-21"), ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
], ],
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=LEXUS_NX.specs,
) )
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024", "LEXUS LC 2024",
@ -350,7 +350,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
], ],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
) )
LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS RX 2020", "LEXUS RX 2020",
@ -358,7 +358,7 @@ class CAR(Platforms):
ToyotaCarInfo("Lexus RX 2020-22"), ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"), ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
], ],
specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444), specs=LEXUS_RX.specs,
) )
LEXUS_GS_F = PlatformConfig( LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016", "LEXUS GS F 2016",

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