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Toyota: use platform config (#31607)

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* part 1. Toyota platform config

* more

* everything works now

* no more DBC

* janky but that saves a lot of car lines

* need to init inside values or else it won't be reliable

* no return

* fixes

* minor update

* common flags, no dbc grouping

* some clean up

* some clean up

* rename

* copied wrong :(

* another

* copied specs for easiest ones first

* second easiest

* fix erroneous commas

* more clean up

* do the rest

* bug

* the refactor is so error prone

* huh?!

* static

* fix stiffness factor

* detect unsupported DSU

* Revert "detect unsupported DSU"

This reverts commit 9b72de6c8e.

* fix DBC diff

* test carparams

* test sets

* scratch

* catches this

* Revert "scratch"

This reverts commit de08daa9fb.

* Revert "test sets"

This reverts commit 62402f9b02.

* Revert "test carparams"

This reverts commit b02971659c.

* Update ref_commit
old-commit-hash: 52ee070fe0
pull/32199/head
Shane Smiskol 1 year ago committed by GitHub
parent c4904800eb
commit 2ac06e8d7d
5 changed files with 319 additions and 308 deletions
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  1. 1
      selfdrive/car/__init__.py
  2. 1
      selfdrive/car/interfaces.py
  3. 101
      selfdrive/car/toyota/interface.py
  4. 522
      selfdrive/car/toyota/values.py
  5. 2
      selfdrive/test/process_replay/ref_commit

1
selfdrive/car/__init__.py
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@ -256,6 +256,7 @@ class CarSpecs:
centerToFrontRatio: float = 0.5 centerToFrontRatio: float = 0.5
minSteerSpeed: float = 0.0 # m/s minSteerSpeed: float = 0.0 # m/s
minEnableSpeed: float = -1.0 # m/s minEnableSpeed: float = -1.0 # m/s
tireStiffnessFactor: float = 1.0
@dataclass(order=True) @dataclass(order=True)

1
selfdrive/car/interfaces.py
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@ -120,6 +120,7 @@ class CarInterfaceBase(ABC):
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor
ret.flags |= int(candidate.config.flags) ret.flags |= int(candidate.config.flags)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

101
selfdrive/car/toyota/interface.py
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@ -1,5 +1,4 @@
from cereal import car from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda import Panda from panda import Panda
from panda.python import uds from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
@ -46,10 +45,6 @@ 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':
@ -58,68 +53,30 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.PRIUS_V: elif candidate == CAR.PRIUS_V:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.4
ret.tireStiffnessFactor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG
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 == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 2860. * 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
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid
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]
@ -136,75 +93,17 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00004 ret.lateralTuning.pid.kf = 0.00004
break break
elif candidate == CAR.COROLLA_TSS2:
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG # mean between min and max
elif candidate == CAR.SIENNA: elif candidate == CAR.SIENNA:
stop_and_go = True stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
ret.tireStiffnessFactor = 0.444
ret.mass = 4590. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
ret.tireStiffnessFactor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG
elif candidate == CAR.LEXUS_GS_F:
ret.wheelbase = 2.84988
ret.steerRatio = 13.3
ret.tireStiffnessFactor = 0.444
ret.mass = 4034. * CV.LB_TO_KG
elif candidate == CAR.LEXUS_CTH: elif candidate == CAR.LEXUS_CTH:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
ret.tireStiffnessFactor = 0.517
ret.mass = 3108 * CV.LB_TO_KG # mean between min and max
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.LEXUS_LC_TSS2:
ret.wheelbase = 2.87
ret.steerRatio = 13.0
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4500 * CV.LB_TO_KG
elif candidate == CAR.PRIUS_TSS2:
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG
elif candidate == CAR.MIRAI: elif candidate == CAR.MIRAI:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
ret.tireStiffnessFactor = 0.8
ret.mass = 4300. * CV.LB_TO_KG
elif candidate == CAR.ALPHARD_TSS2:
ret.wheelbase = 3.00
ret.steerRatio = 14.2
ret.tireStiffnessFactor = 0.444
ret.mass = 4305. * CV.LB_TO_KG
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44

522
selfdrive/car/toyota/values.py
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@ -1,10 +1,11 @@
import re import re
from collections import defaultdict from collections import defaultdict
from dataclasses import dataclass, field from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum from enum import Enum, IntFlag
from cereal import car from cereal import car
from openpilot.common.conversions import Conversions as CV from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -41,50 +42,19 @@ class CarControllerParams:
class ToyotaFlags(IntFlag): class ToyotaFlags(IntFlag):
# Detected flags
HYBRID = 1 HYBRID = 1
SMART_DSU = 2 SMART_DSU = 2
DISABLE_RADAR = 4 DISABLE_RADAR = 4
# Static flags
class CAR(StrEnum): TSS2 = 8
# Toyota NO_DSU = 16
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020" UNSUPPORTED_DSU = 32
AVALON = "TOYOTA AVALON 2016" RADAR_ACC = 64
AVALON_2019 = "TOYOTA AVALON 2019" # these cars use the Lane Tracing Assist (LTA) message for lateral control
AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5 ANGLE_CONTROL = 128
CAMRY = "TOYOTA CAMRY 2018" NO_STOP_TIMER = 256
CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5
CHR = "TOYOTA C-HR 2018"
CHR_TSS2 = "TOYOTA C-HR 2021"
COROLLA = "TOYOTA COROLLA 2017"
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
HIGHLANDER = "TOYOTA HIGHLANDER 2017"
HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 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"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
# Lexus
LEXUS_CTH = "LEXUS CT HYBRID 2018"
LEXUS_ES = "LEXUS ES 2018"
LEXUS_ES_TSS2 = "LEXUS ES 2019"
LEXUS_IS = "LEXUS IS 2018"
LEXUS_IS_TSS2 = "LEXUS IS 2023"
LEXUS_NX = "LEXUS NX 2018"
LEXUS_NX_TSS2 = "LEXUS NX 2020"
LEXUS_LC_TSS2 = "LEXUS LC 2024"
LEXUS_RC = "LEXUS RC 2020"
LEXUS_RX = "LEXUS RX 2016"
LEXUS_RX_TSS2 = "LEXUS RX 2020"
LEXUS_GS_F = "LEXUS GS F 2016"
class Footnote(Enum): class Footnote(Enum):
@ -99,127 +69,305 @@ class ToyotaCarInfo(CarInfo):
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
CAR_INFO: dict[str, ToyotaCarInfo | list[ToyotaCarInfo]] = { @dataclass
class ToyotaTSS2PlatformConfig(PlatformConfig):
dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'))
def init(self):
self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU
if self.flags & ToyotaFlags.RADAR_ACC:
self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', None)
class CAR(Platforms):
# Toyota # Toyota
CAR.ALPHARD_TSS2: [ ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
ToyotaCarInfo("Toyota Alphard 2019-20"), "TOYOTA ALPHARD 2020",
ToyotaCarInfo("Toyota Alphard Hybrid 2021"), [
], ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.AVALON: [ ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), ],
ToyotaCarInfo("Toyota Avalon 2017-18"), specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
], )
CAR.AVALON_2019: [ AVALON = PlatformConfig(
ToyotaCarInfo("Toyota Avalon 2019-21"), "TOYOTA AVALON 2016",
ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), [
], ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
CAR.AVALON_TSS2: [ ToyotaCarInfo("Toyota Avalon 2017-18"),
ToyotaCarInfo("Toyota Avalon 2022"), ],
ToyotaCarInfo("Toyota Avalon Hybrid 2022"), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
], specs=CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
CAR.CAMRY: [ )
ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), AVALON_2019 = PlatformConfig(
ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), "TOYOTA AVALON 2019",
], [
CAR.CAMRY_TSS2: [ ToyotaCarInfo("Toyota Avalon 2019-21"),
ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ],
], dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CHR: [ specs=AVALON.specs,
ToyotaCarInfo("Toyota C-HR 2017-20"), )
ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), AVALON_TSS2 = ToyotaTSS2PlatformConfig(
], "TOYOTA AVALON 2022", # TSS 2.5
CAR.CHR_TSS2: [ [
ToyotaCarInfo("Toyota C-HR 2021"), ToyotaCarInfo("Toyota Avalon 2022"),
ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
], ],
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), specs=AVALON.specs,
CAR.COROLLA_TSS2: [ )
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), CAMRY = PlatformConfig(
ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), "TOYOTA CAMRY 2018",
ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), [
# Hybrid platforms ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), ],
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
ToyotaCarInfo("Lexus UX Hybrid 2019-23"), flags=ToyotaFlags.NO_DSU,
], specs=CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933),
CAR.HIGHLANDER: [ )
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), CAMRY_TSS2 = ToyotaTSS2PlatformConfig(
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), "TOYOTA CAMRY 2021", # TSS 2.5
], [
CAR.HIGHLANDER_TSS2: [ ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ],
], specs=CAMRY.specs,
CAR.PRIUS: [ )
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), CHR = PlatformConfig(
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), "TOYOTA C-HR 2018",
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), [
], ToyotaCarInfo("Toyota C-HR 2017-20"),
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
CAR.PRIUS_TSS2: [ ],
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), flags=ToyotaFlags.NO_DSU,
], specs=CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933),
CAR.RAV4: [ )
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"), CHR_TSS2 = ToyotaTSS2PlatformConfig(
ToyotaCarInfo("Toyota RAV4 2017-18") "TOYOTA C-HR 2021",
], [
CAR.RAV4H: [ ToyotaCarInfo("Toyota C-HR 2021"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ],
], flags=ToyotaFlags.RADAR_ACC,
CAR.RAV4_TSS2: [ specs=CHR.specs,
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), )
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), COROLLA = PlatformConfig(
], "TOYOTA COROLLA 2017",
CAR.RAV4_TSS2_2022: [ ToyotaCarInfo("Toyota Corolla 2017-19"),
ToyotaCarInfo("Toyota RAV4 2022"), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), specs=CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
], )
CAR.RAV4_TSS2_2023: [ # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
ToyotaCarInfo("Toyota RAV4 2023-24"), COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), "TOYOTA COROLLA TSS2 2019",
], [
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
# Hybrid platforms
ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
],
specs=CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
)
HIGHLANDER = PlatformConfig(
"TOYOTA HIGHLANDER 2017",
[
ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8),
)
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA HIGHLANDER 2020",
[
ToyotaCarInfo("Toyota Highlander 2020-23"),
ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
],
specs=HIGHLANDER.specs,
)
PRIUS = PlatformConfig(
"TOYOTA PRIUS 2017",
[
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius 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'),
specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
)
PRIUS_V = PlatformConfig(
"TOYOTA PRIUS v 2017",
ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
)
PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA PRIUS TSS2 2021",
[
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
specs=CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
)
RAV4 = PlatformConfig(
"TOYOTA RAV4 2017",
[
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
)
RAV4H = PlatformConfig(
"TOYOTA RAV4 HYBRID 2017",
[
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=RAV4.specs,
)
RAV4_TSS2 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2019",
[
ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
],
specs=CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
)
RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2022",
[
ToyotaCarInfo("Toyota RAV4 2022"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
],
flags=ToyotaFlags.RADAR_ACC,
specs=RAV4_TSS2.specs,
)
RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
"TOYOTA RAV4 2023",
[
ToyotaCarInfo("Toyota RAV4 2023-24"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"),
],
flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
specs=RAV4_TSS2.specs,
)
MIRAI = ToyotaTSS2PlatformConfig(
"TOYOTA MIRAI 2021", # TSS 2.5
ToyotaCarInfo("Toyota Mirai 2021"),
specs=CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
)
SIENNA = PlatformConfig(
"TOYOTA SIENNA 2018",
ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER,
specs=CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
)
# Lexus # Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), LEXUS_CTH = PlatformConfig(
CAR.LEXUS_ES: [ "LEXUS CT HYBRID 2018",
ToyotaCarInfo("Lexus ES 2017-18"), ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
ToyotaCarInfo("Lexus ES Hybrid 2017-18"), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
], specs=CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517),
CAR.LEXUS_ES_TSS2: [ )
ToyotaCarInfo("Lexus ES 2019-24"), LEXUS_ES = PlatformConfig(
ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), "LEXUS ES 2018",
], [
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), ToyotaCarInfo("Lexus ES 2017-18"),
CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), ],
CAR.LEXUS_NX: [ dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
ToyotaCarInfo("Lexus NX 2018-19"), specs=CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"), )
], LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig(
CAR.LEXUS_NX_TSS2: [ "LEXUS ES 2019",
ToyotaCarInfo("Lexus NX 2020-21"), [
ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ToyotaCarInfo("Lexus ES 2019-24"),
], ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"), ],
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), specs=LEXUS_ES.specs,
CAR.LEXUS_RX: [ )
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), LEXUS_IS = PlatformConfig(
ToyotaCarInfo("Lexus RX 2017-19"), "LEXUS IS 2018",
# Hybrid platforms ToyotaCarInfo("Lexus IS 2017-19"),
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"), flags=ToyotaFlags.UNSUPPORTED_DSU,
], specs=CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444),
CAR.LEXUS_RX_TSS2: [ )
ToyotaCarInfo("Lexus RX 2020-22"), LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig(
ToyotaCarInfo("Lexus RX Hybrid 2020-22"), "LEXUS IS 2023",
], ToyotaCarInfo("Lexus IS 2022-23"),
} specs=LEXUS_IS.specs,
)
LEXUS_NX = PlatformConfig(
"LEXUS NX 2018",
[
ToyotaCarInfo("Lexus NX 2018-19"),
ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444),
)
LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS NX 2020",
[
ToyotaCarInfo("Lexus NX 2020-21"),
ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
],
specs=LEXUS_NX.specs,
)
LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS LC 2024",
ToyotaCarInfo("Lexus LC 2024"),
specs=CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444),
)
LEXUS_RC = PlatformConfig(
"LEXUS RC 2020",
ToyotaCarInfo("Lexus RC 2018-20"),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=LEXUS_IS.specs,
)
LEXUS_RX = PlatformConfig(
"LEXUS RX 2016",
[
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX 2017-19"),
# Hybrid platforms
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
specs=CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533),
)
LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig(
"LEXUS RX 2020",
[
ToyotaCarInfo("Lexus RX 2020-22"),
ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
],
specs=LEXUS_RX.specs,
)
LEXUS_GS_F = PlatformConfig(
"LEXUS GS F 2016",
ToyotaCarInfo("Lexus GS F 2016"),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.UNSUPPORTED_DSU,
specs=CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444),
)
# (addr, cars, bus, 1/freq*100, vl) # (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [ STATIC_DSU_MSGS = [
@ -439,62 +587,24 @@ FW_QUERY_CONFIG = FwQueryConfig(
STEER_THRESHOLD = 100 STEER_THRESHOLD = 100
DBC = {
CAR.RAV4H: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.RAV4: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
}
# These cars have non-standard EPS torque scale factors. All others are 73 # These cars have non-standard EPS torque scale factors. All others are 73
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5 # Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2, TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
CAR.CHR_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU)
# the DSU uses the AEB message for longitudinal on these cars # the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU)
# these cars have a radar which sends ACC messages instead of the camera # these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC)
# these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023}
# no resume button press required # no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

2
selfdrive/test/process_replay/ref_commit
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