diff --git a/RELEASES.md b/RELEASES.md index 8a1680d40c..e65aa21fbc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -7,6 +7,7 @@ Version 0.8.13 (2022-XX-XX) * Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Subaru Impreza 2020 support thanks to martinl! * Toyota Avalon 2022 support thanks to sshane! + * Toyota Prius v 2017 support thanks to CT921! Version 0.8.12 (2021-12-15) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 149b21feb3..40768e3096 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -64,6 +64,7 @@ | Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph | | Toyota | Prius 2016-20 | TSS-P | Stock3| 0mph | 0mph | | Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph | +| Toyota | Prius v 2017 | TSS-P | Stock3| 20mph1 | 0mph | | Toyota | Prius Prime 2017-20 | All | Stock3| 0mph | 0mph | | Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph | | Toyota | Rav4 2016-18 | TSS-P | Stock3| 20mph1 | 0mph | diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py old mode 100755 new mode 100644 index f0c61eeb22..53ab749253 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -26,6 +26,8 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop + stop_and_go = False + if candidate == CAR.PRIUS: stop_and_go = True ret.wheelbase = 2.70 @@ -36,6 +38,13 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS) ret.steerActuatorDelay = 0.3 + elif candidate == CAR.PRIUS_V: + ret.wheelbase = 2.78 + ret.steerRatio = 17.8 + tire_stiffness_factor = 0.5533 + ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG + set_lat_tune(ret.lateralTuning, LatTunes.PID_L) + elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False ret.wheelbase = 2.65 @@ -45,7 +54,6 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4) elif candidate == CAR.COROLLA: - stop_and_go = False ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet @@ -94,7 +102,6 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2): - stop_and_go = False ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 @@ -149,7 +156,6 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate == CAR.LEXUS_IS: - stop_and_go = False ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 @@ -157,7 +163,6 @@ class CarInterface(CarInterfaceBase): set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_RC: - stop_and_go = False ret.wheelbase = 2.73050 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index edefb8acb6..7bd99c77c2 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -46,6 +46,7 @@ class CAR: HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020" PRIUS = "TOYOTA PRIUS 2017" + PRIUS_V = "TOYOTA PRIUS v 2017" PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" RAV4 = "TOYOTA RAV4 2017" RAV4H = "TOYOTA RAV4 HYBRID 2017" @@ -73,25 +74,24 @@ class CAR: STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] - FW_VERSIONS = { CAR.AVALON: { (Ecu.esp, 0x7b0, None): [ @@ -983,6 +983,23 @@ FW_VERSIONS = { b'8646F4705200\x00\x00\x00\x00', ], }, + CAR.PRIUS_V: { + (Ecu.esp, 0x7b0, None): [ + b'F152647280\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881514705100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F4703300\x00\x00\x00\x00', + ], + }, CAR.RAV4: { (Ecu.engine, 0x7e0, None): [ b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1647,6 +1664,7 @@ DBC = { CAR.RAV4H: dbc_dict('toyota_tssp_hybrid_generated', 'toyota_adas'), CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'), CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_adas'), + CAR.PRIUS_V: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'), CAR.COROLLA: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'), CAR.LEXUS_RC: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'), CAR.LEXUS_RX: dbc_dict('toyota_tssp_pt_generated', 'toyota_adas'), diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py old mode 100755 new mode 100644 index 5448227bc9..445005b88e --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -144,6 +144,7 @@ routes = [ TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), + TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),