sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609)

Browse Source 
* test out lta message

* correctly send

* percentage is percentage driver isn't overriding

* closer to stock system

* should be able to send LTA at 100hz, counter is the same as LKA

* small amount of torque towards desired

* Offset commanded torque correctly

* Too little torque

* use car's SETME's

* Revert "use car's SETME's"

This reverts commit c888569699.

* try cutting steer every second

* Didn't seem to matter

This reverts commit 6923498b2a.

* steer to 0

* let packer set counter

* add for camry

* log steer faults

* comments

* bump opendbc

* add opParams

* add lta safety

* set safety param

* fix torque control bug

* bump panda

* fix missing signal

* [experiment] apply some rate limiting and anti-windup

* no faults, clip to 90 deg, decent torque blending

* clean up blending

* toyota angle rate limits

* use std angle limits

* assert we only add angle control to TSS2 cars

* clean up carcontroller a bit

* space space

* bump opendbc

* clean up toyotacan from opendbc change

* bump panda

* will tests run?

* steer at zero

* refactor angle to use LatControlPID with zero gains

* stop some faults and tuning

* possibly fix integral wind up at max torque

* Add 2023 rav4

* limit torque inside EPS when overriding (no huge windup in edge cases when overriding)

* fix wind up issue after turns (or prolonged saturation)

* this doesn't work that well

* try these limits

* try this

* log the angle!

* global variable

* Apply suggestions from code review

* clip angle to 3 m/s/s

* some tolerance for roll

* raise limits a bit

* bumppanda

* fix faults

* still not good

* offsetting causing hugging?

* Revert "offsetting causing hugging?"

This reverts commit a42ec0b772.

* reduce kp

* class var not needed

* limit up angle delta

* fix saturation check

* feedforward includes offset

* some threshold for roll

* bump panda

* surely we don't need this

* test stuff

* Toyota: Add FW for 2023 RAV4 Hybrid (#27494)

* Toyota: Add FW for 2023 RAV4 Hybrid

* Set RAVH_TSS2_2022 to use angle SteerControlType

* bump panda

* remove extras

* Revert "remove extras"

This reverts commit 87378e7349.

* no max angle limit for now

* add as separate platforms

* remove debug scripts

* revert to master

* remove these FW versions from 2022

* dashcam these cars :(

* fix test

* interface

* add to untested routes

* never send torque with LTA cars

* fix values

* clean up controlsd

* reset lat control files

* use the car param

* add to params

* bump panda to master

* Update selfdrive/car/toyota/carcontroller.py

* don't set torque params if angle control (fixes controlsd bug)

* reset controlsd

* keyword

* in another pr

* simplify test

* rm line

* Update selfdrive/car/toyota/tests/test_toyota.py

---------

Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com>
pull/27614/head
Shane Smiskol 2 years ago committed by GitHub
parent 2f95148a67
commit 57c4d78869
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 83 additions and 10 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      selfdrive/car/tests/routes.py
  2. 4
      selfdrive/car/torque_data/override.yaml
  3. 5
      selfdrive/car/toyota/carcontroller.py
  4. 18
      selfdrive/car/toyota/interface.py
  5. 0
      selfdrive/car/toyota/tests/__init__.py
  6. 13
      selfdrive/car/toyota/tests/test_toyota.py
  7. 51
      selfdrive/car/toyota/values.py

2
selfdrive/car/tests/routes.py
Unescape View File

@ -27,6 +27,8 @@ non_tested_cars = [
HYUNDAI.KIA_OPTIMA_H,
HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
TOYOTA.RAV4_TSS2_2023,
TOYOTA.RAV4H_TSS2_2023,
]
CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))

4
selfdrive/car/torque_data/override.yaml
Unescape View File

@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]

5
selfdrive/car/toyota/carcontroller.py
Unescape View File

@ -76,6 +76,11 @@ class CarController:
apply_steer_req = 0
self.steer_rate_counter = 0
# Never actuate with LKA on cars that only support LTA
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
apply_steer = 0
apply_steer_req = 0
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not CC.enabled and CS.pcm_acc_status:

18
selfdrive/car/toyota/interface.py
Unescape View File

@ -2,7 +2,8 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -23,13 +24,18 @@ class CarInterface(CarInterfaceBase):
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
if candidate in ANGLE_CONTROL_CAR:
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
steering_angle_deadzone_deg = 0.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
if candidate == CAR.PRIUS:
stop_and_go = True
@ -40,9 +46,8 @@ class CarInterface(CarInterfaceBase):
# Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
steering_angle_deadzone_deg = 0.2
ret.steerActuatorDelay = 0.25
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
elif candidate == CAR.PRIUS_V:
stop_and_go = True
@ -102,7 +107,8 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3

0
selfdrive/car/toyota/tests/__init__.py
Unescape View File

13
selfdrive/car/toyota/tests/test_toyota.py
Unescape View File

@ -0,0 +1,13 @@
#!/usr/bin/env python3
import unittest
from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR
class TestToyotaInterfaces(unittest.TestCase):
def test_angle_car_set(self):
self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
if __name__ == "__main__":
unittest.main()

51
selfdrive/car/toyota/values.py
Unescape View File

@ -67,8 +67,10 @@ class CAR:
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
@ -157,8 +159,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
],
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
@ -1459,6 +1463,23 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AJ2000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x01896634A15000\x00\x00\x00\x00',
@ -1546,6 +1567,23 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15264283200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AE1001\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
],
},
CAR.SIENNA: {
(Ecu.engine, 0x700, None): [
b'\x01896630832100\x00\x00\x00\x00',
@ -2104,6 +2142,7 @@ DBC = {
CAR.AVALONH_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.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -2114,6 +2153,7 @@ DBC = {
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_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'),
@ -2128,8 +2168,8 @@ DBC = {
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
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
@ -2138,10 +2178,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2}
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
# no resume button press required

Write Preview
Loading…
Cancel
Save