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Merge remote-tracking branch 'upstream/master' into gm-silverado-wip

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pull/24875/head
Jason Shuler 3 years ago
parent 90394e8766 e910ce87a4
commit 4c7a5e6184
26 changed files with 22 additions and 35 deletions
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  1. 2
      docs/CARS.md
  2. 1
      selfdrive/car/body/interface.py
  3. 1
      selfdrive/car/chrysler/interface.py
  4. 1
      selfdrive/car/ford/interface.py
  5. 1
      selfdrive/car/gm/interface.py
  6. 1
      selfdrive/car/honda/interface.py
  7. 1
      selfdrive/car/hyundai/interface.py
  8. 4
      selfdrive/car/hyundai/values.py
  9. 1
      selfdrive/car/mazda/interface.py
  10. 1
      selfdrive/car/nissan/interface.py
  11. 1
      selfdrive/car/subaru/interface.py
  12. 1
      selfdrive/car/tesla/interface.py
  13. 1
      selfdrive/car/tests/test_car_interfaces.py
  14. 1
      selfdrive/car/tests/test_models.py
  15. 1
      selfdrive/car/toyota/interface.py
  16. 1
      selfdrive/car/volkswagen/interface.py
  17. 7
      selfdrive/controls/lib/lateral_planner.py
  18. 2
      selfdrive/controls/plannerd.py
  19. 2
      selfdrive/modeld/models/driving.h
  20. 4
      selfdrive/modeld/models/supercombo.dlc
  21. 4
      selfdrive/modeld/models/supercombo.onnx
  22. 2
      selfdrive/modeld/thneed/compile.cc
  23. 8
      selfdrive/modeld/thneed/optimizer.cc
  24. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  25. 2
      selfdrive/test/process_replay/ref_commit
  26. 2
      selfdrive/thermald/thermald.py

2
docs/CARS.md
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@ -95,7 +95,7 @@ How We Rate The Cars
|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

1
selfdrive/car/body/interface.py
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@ -19,7 +19,6 @@ class CarInterface(CarInterfaceBase):
ret.minSteerSpeed = -math.inf
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
ret.steerRatio = 0.5
ret.steerRateCost = 0.5
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.

1
selfdrive/car/chrysler/interface.py
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@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):

1
selfdrive/car/ford/interface.py
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@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase):
# LCA can steer down to zero
ret.minSteerSpeed = 0.
ret.steerRateCost = 1.0
ret.centerToFront = ret.wheelbase * 0.44
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

1
selfdrive/car/gm/interface.py
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@ -70,7 +70,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.longitudinalTuning.kpBP = [5., 35.]

1
selfdrive/car/honda/interface.py
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@ -319,7 +319,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor=tire_stiffness_factor)
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.8
return ret

1
selfdrive/car/hyundai/interface.py
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@ -43,7 +43,6 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = not os.path.exists('/data/enable-ev6')
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.

4
selfdrive/car/hyundai/values.py
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@ -80,6 +80,8 @@ class CAR:
@dataclass
class HyundaiCarInfo(CarInfo):
# TODO: we can probably remove LKAS. LKAS is standard on many
# HKG and for others, it's likely packaged together with SCC
package: str = "SCC + LKAS"
good_torque: bool = True
@ -121,7 +123,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
],
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC + LFA", harness=Harness.hyundai_a),
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),

1
selfdrive/car/mazda/interface.py
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@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet

1
selfdrive/car/nissan/interface.py
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@ -14,7 +14,6 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
ret.steerLimitTimer = 1.0
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1

1
selfdrive/car/subaru/interface.py
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@ -22,7 +22,6 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate == CAR.ASCENT:

1
selfdrive/car/tesla/interface.py
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@ -42,7 +42,6 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
ret.steerRateCost = 0.5
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100. + STD_CARGO_KG

1
selfdrive/car/tests/test_car_interfaces.py
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@ -33,7 +33,6 @@ class TestCarInterfaces(unittest.TestCase):
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()

1
selfdrive/car/tests/test_models.py
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@ -121,7 +121,6 @@ class TestCarModelBase(unittest.TestCase):
# make sure car params are within a valid range
self.assertGreater(self.CP.mass, 1)
self.assertGreater(self.CP.steerRateCost, 1e-3)
if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
tuning = self.CP.lateralTuning.which()

1
selfdrive/car/toyota/interface.py
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@ -213,7 +213,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# TODO: get actual value, for now starting with reasonable value for

1
selfdrive/car/volkswagen/interface.py
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@ -45,7 +45,6 @@ class CarInterface(CarInterfaceBase):
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 1.0
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
tire_stiffness_factor = 1.0 # Let the params learner figure this out

7
selfdrive/controls/lib/lateral_planner.py
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@ -11,13 +11,12 @@ from cereal import log
class LateralPlanner:
def __init__(self, CP, use_lanelines=True, wide_camera=False):
def __init__(self, use_lanelines=True, wide_camera=False):
self.use_lanelines = use_lanelines
self.LP = LanePlanner(wide_camera)
self.DH = DesireHelper()
self.last_cloudlog_t = 0
self.steer_rate_cost = CP.steerRateCost
self.solution_invalid_cnt = 0
self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@ -59,12 +58,12 @@ class LateralPlanner:
# Calculate final driving path and set MPC costs
if self.use_lanelines:
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE)
else:
d_path_xyz = self.path_xyz
# Heading cost is useful at low speed, otherwise end of plan can be off-heading
heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15])
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, self.steer_rate_cost)
self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE)
y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)

2
selfdrive/controls/plannerd.py
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@ -22,7 +22,7 @@ def plannerd_thread(sm=None, pm=None):
cloudlog.event("e2e mode", on=use_lanelines)
longitudinal_planner = Planner(CP)
lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
if sm is None:
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],

2
selfdrive/modeld/models/driving.h
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@ -245,7 +245,7 @@ struct ModelOutput {
constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
#ifdef TEMPORAL
constexpr int TEMPORAL_SIZE = 512;
constexpr int TEMPORAL_SIZE = 512+256;
#else
constexpr int TEMPORAL_SIZE = 0;
#endif

4
selfdrive/modeld/models/supercombo.dlc
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
size 76725611
oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44
size 101662751

4
selfdrive/modeld/models/supercombo.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
size 77472267
oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49
size 102570834

2
selfdrive/modeld/thneed/compile.cc
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@ -5,7 +5,7 @@
#include "selfdrive/modeld/thneed/thneed.h"
#include "system/hardware/hw.h"
#define TEMPORAL_SIZE 512
#define TEMPORAL_SIZE 512+256
#define DESIRE_LEN 8
#define TRAFFIC_CONVENTION_LEN 2

8
selfdrive/modeld/thneed/optimizer.cc
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@ -9,7 +9,7 @@
extern map<cl_program, string> g_program_source;
static int is_same_size_image(cl_mem a, cl_mem b) {
/*static int is_same_size_image(cl_mem a, cl_mem b) {
size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) {
return (a_width == b_width) && (a_height == b_height) &&
(a_depth == b_depth) && (a_array_size == b_array_size) &&
(a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
}
}*/
static cl_mem make_image_like(cl_context context, cl_mem val) {
cl_image_format format;
@ -138,7 +138,7 @@ int Thneed::optimize() {
// delete useless copy layers
// saves ~0.7 ms
if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
/*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
string in = kq[i]->args[kq[i]->get_arg_num("input")];
string out = kq[i]->args[kq[i]->get_arg_num("output")];
if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@ -148,7 +148,7 @@ int Thneed::optimize() {
kq.erase(kq.begin()+i); --i;
}
}
}*/
// NOTE: if activations/accumulation are done in the wrong order, this will be wrong

2
selfdrive/test/process_replay/model_replay_ref_commit
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@ -1 +1 @@
512a9d4596c8faba304d6f7ded2ce77837357b65
629eaa7b26d1721a71547f9de880f99732cb27f3

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
1d66eed104dbc124c4e5679f5dddf40197b86ce9
ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b

2
selfdrive/thermald/thermald.py
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@ -220,7 +220,7 @@ def thermald_thread(end_event, hw_queue):
if TICI:
fan_controller = TiciFanController()
elif (sec_since_boot() - sm.rcv_time['pandaStates']/1e9) > DISCONNECT_TIMEOUT:
elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
if onroad_conditions["ignition"]:
onroad_conditions["ignition"] = False
cloudlog.error("panda timed out onroad")

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