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copied specs for easiest ones first

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pull/31607/head
Shane Smiskol 1 year ago
parent b507037812
commit 4c6df8ef37
2 changed files with 31 additions and 67 deletions
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  1. 36
      selfdrive/car/toyota/interface.py
  2. 62
      selfdrive/car/toyota/values.py

36
selfdrive/car/toyota/interface.py
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@ -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.

62
selfdrive/car/toyota/values.py
Unescape View File

@ -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)
),

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