diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 988b1b4547..103c21ed47 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -70,12 +70,6 @@ class CarInterface(CarInterfaceBase): 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): stop_and_go = True ret.wheelbase = 2.79 @@ -136,12 +130,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00004 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 @@ -161,12 +149,6 @@ class CarInterface(CarInterfaceBase): 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: stop_and_go = True ret.wheelbase = 2.60 @@ -181,18 +163,6 @@ class CarInterface(CarInterfaceBase): 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: stop_and_go = True ret.wheelbase = 2.91 @@ -200,12 +170,6 @@ class CarInterface(CarInterfaceBase): 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 # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 3e4684f1bd..f6adef3c5e 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -94,7 +94,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon 2017-18"), ], dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), AVALON_2019 = PlatformConfig( "TOYOTA AVALON 2019", @@ -103,7 +103,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), ], dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), AVALON_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA AVALON 2022", # TSS 2.5 @@ -111,7 +111,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon 2022"), ToyotaCarInfo("Toyota Avalon Hybrid 2022"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), CAMRY = PlatformConfig( "TOYOTA CAMRY 2018", @@ -121,7 +121,7 @@ class CAR(Platforms): ], dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_DSU, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), CAMRY_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA CAMRY 2021", # TSS 2.5 @@ -129,7 +129,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), CHR = PlatformConfig( "TOYOTA C-HR 2018", @@ -139,7 +139,7 @@ class CAR(Platforms): ], dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_DSU, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), CHR_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA C-HR 2021", @@ -148,13 +148,13 @@ class CAR(Platforms): ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), ], flags=ToyotaFlags.RADAR_ACC, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), COROLLA = PlatformConfig( "TOYOTA COROLLA 2017", ToyotaCarInfo("Toyota Corolla 2017-19"), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444) ), # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid COROLLA_TSS2 = ToyotaTSS2PlatformConfig( @@ -169,7 +169,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444) ), HIGHLANDER = PlatformConfig( "TOYOTA HIGHLANDER 2017", @@ -179,7 +179,7 @@ class CAR(Platforms): ], dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA HIGHLANDER 2020", @@ -187,7 +187,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), PRIUS = PlatformConfig( "TOYOTA PRIUS 2017", @@ -212,7 +212,7 @@ class CAR(Platforms): 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=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.4, tireStiffnessFactor=0.6371) ), RAV4 = PlatformConfig( "TOYOTA RAV4 2017", @@ -221,7 +221,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 2017-18") ], dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), RAV4H = PlatformConfig( "TOYOTA RAV4 HYBRID 2017", @@ -231,7 +231,7 @@ class CAR(Platforms): ], dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), RAV4_TSS2 = ToyotaTSS2PlatformConfig( "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 Hybrid 2019-21"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( "TOYOTA RAV4 2022", @@ -249,7 +249,7 @@ class CAR(Platforms): ], dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), flags=ToyotaFlags.RADAR_ACC, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( "TOYOTA RAV4 2023", @@ -259,20 +259,20 @@ class CAR(Platforms): ], dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), MIRAI = ToyotaTSS2PlatformConfig( "TOYOTA MIRAI 2021", # TSS 2.5 ToyotaCarInfo("Toyota Mirai 2021"), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + 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=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), # Lexus @@ -280,7 +280,7 @@ class CAR(Platforms): "LEXUS CT HYBRID 2018", ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_ES = PlatformConfig( "LEXUS ES 2018", @@ -289,7 +289,7 @@ class CAR(Platforms): ToyotaCarInfo("Lexus ES Hybrid 2017-18"), ], dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS ES 2019", @@ -297,19 +297,19 @@ class CAR(Platforms): ToyotaCarInfo("Lexus ES 2019-24"), ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_IS = PlatformConfig( "LEXUS IS 2018", ToyotaCarInfo("Lexus IS 2017-19"), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS IS 2023", ToyotaCarInfo("Lexus IS 2022-23"), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_NX = PlatformConfig( "LEXUS NX 2018", @@ -318,7 +318,7 @@ class CAR(Platforms): ToyotaCarInfo("Lexus NX Hybrid 2018-19"), ], dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS NX 2020", @@ -326,19 +326,19 @@ class CAR(Platforms): ToyotaCarInfo("Lexus NX 2020-21"), ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS LC 2024", ToyotaCarInfo("Lexus LC 2024"), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + 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=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_RX = PlatformConfig( "LEXUS RX 2016", @@ -350,7 +350,7 @@ class CAR(Platforms): ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS RX 2020", @@ -358,14 +358,14 @@ class CAR(Platforms): ToyotaCarInfo("Lexus RX 2020-22"), ToyotaCarInfo("Lexus RX Hybrid 2020-22"), ], - specs=CarSpecs(mass=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=0000. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) ), 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=0. * CV.LB_TO_KG, wheelbase=0, steerRatio=0, tireStiffnessFactor=0.444) + specs=CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444) ),