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VW: Prep for MQB longitudinal (#25777)

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* VW: Prep for MQB longitudinal

* fine, be that way

* temporarily pacify the docs generator
pull/25788/head
Jason Young 3 years ago committed by GitHub
parent e699b0994c
commit 4c9f8d2df8
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5 changed files with 39 additions and 27 deletions
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  1. 9
      selfdrive/car/volkswagen/carcontroller.py
  2. 1
      selfdrive/car/volkswagen/carstate.py
  3. 15
      selfdrive/car/volkswagen/interface.py
  4. 38
      selfdrive/car/volkswagen/pqcan.py
  5. 3
      selfdrive/car/volkswagen/values.py

9
selfdrive/car/volkswagen/carcontroller.py
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@ -7,6 +7,7 @@ from selfdrive.car.volkswagen import mqbcan, pqcan
from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
class CarController:
@ -25,7 +26,6 @@ class CarController:
def update(self, CC, CS, ext_bus):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []
# **** Steering Controls ************************************************ #
@ -71,9 +71,12 @@ class CarController:
# **** Acceleration Controls ******************************************** #
if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel))
stopping = actuators.longControlState == LongCtrlState.stopping
starting = actuators.longControlState == LongCtrlState.starting
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
acc_control, stopping, starting, CS.out.cruiseState.standstill))
# **** HUD Controls ***************************************************** #

1
selfdrive/car/volkswagen/carstate.py
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@ -215,6 +215,7 @@ class CarState(CarStateBase):
ret.stockAeb = False
# Update ACC radar status.
self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"])
if self.CP.pcmCruise:

15
selfdrive/car/volkswagen/interface.py
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@ -38,6 +38,7 @@ class CarInterface(CarInterfaceBase):
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
ret.experimentalLongitudinalAvailable = True
else:
ret.networkLocation = NetworkLocation.fwdCamera
@ -49,13 +50,6 @@ class CarInterface(CarInterfaceBase):
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
if experimental_long and ret.networkLocation == NetworkLocation.gateway:
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
@ -87,6 +81,13 @@ class CarInterface(CarInterfaceBase):
# Global longitudinal tuning defaults, can be overridden per-vehicle
if experimental_long and candidate in PQ_CARS:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.longitudinalTuning.kpV = [0.1]

38
selfdrive/car/volkswagen/pqcan.py
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@ -35,15 +35,15 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa
return packer.make_can_msg("GRA_Neu", bus, values)
def tsk_status_value(main_switch_on, acc_faulted, long_active):
def acc_control_value(main_switch_on, acc_faulted, long_active):
if long_active:
tsk_status = 1
acc_control = 1
elif main_switch_on:
tsk_status = 2
acc_control = 2
else:
tsk_status = 0
acc_control = 0
return tsk_status
return acc_control
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
@ -59,26 +59,32 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return hud_status
def create_acc_accel_control(packer, bus, adr_status, accel):
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill):
commands = []
values = {
"ACS_Sta_ADR": adr_status,
"ACS_StSt_Info": adr_status != 1,
"ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1)
"ACS_Sollbeschl": accel if adr_status == 1 else 3.01,
"ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27,
"ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08,
"ACS_Sta_ADR": acc_control,
"ACS_StSt_Info": acc_control != 1,
"ACS_Typ_ACC": acc_type,
"ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
"ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
}
return packer.make_can_msg("ACC_System", bus, values)
commands.append(packer.make_can_msg("ACC_System", bus, values))
return commands
def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible):
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
values = {
"ACA_StaACC": acc_status,
"ACA_StaACC": acc_hud_status,
"ACA_Zeitluecke": 2,
"ACA_V_Wunsch": set_speed,
"ACA_gemZeitl": 8 if lead_visible else 0,
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
# display/display-prio handling probably needed to stop confusing the instrument cluster
# kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
}
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)

3
selfdrive/car/volkswagen/values.py
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@ -20,7 +20,6 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams:
HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz
ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
ACCEL_MAX = 2.0 # 2.0 m/s max acceleration
ACCEL_MIN = -3.5 # 3.5 m/s max deceleration
@ -37,6 +36,7 @@ class CarControllerParams:
if CP.carFingerprint in PQ_CARS:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@ -65,6 +65,7 @@ class CarControllerParams:
else:
self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))

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