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Merge remote-tracking branch 'upstream/master' into hyundai-match-dash-speed

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pull/25235/head
Shane Smiskol 3 years ago
parent b0003faca7 40f89b183e
commit 6321d472ff
18 changed files with 129 additions and 65 deletions
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  1. 2
      cereal
  2. 23
      selfdrive/car/gm/interface.py
  3. 12
      selfdrive/car/gm/values.py
  4. 4
      selfdrive/car/mazda/interface.py
  5. 4
      selfdrive/car/mock/interface.py
  6. 2
      selfdrive/car/tests/routes.py
  7. 2
      selfdrive/car/torque_data/override.yaml
  8. 2
      selfdrive/test/process_replay/ref_commit
  9. 30
      selfdrive/test/process_replay/test_processes.py
  10. 3
      selfdrive/ui/qt/maps/map.cc
  11. 2
      selfdrive/ui/qt/maps/map.h
  12. 4
      selfdrive/ui/qt/offroad/settings.cc
  13. 2
      selfdrive/ui/qt/offroad/software_settings.cc
  14. 28
      selfdrive/ui/translations/main_ja.ts
  15. 12
      selfdrive/ui/translations/main_ko.ts
  16. 12
      selfdrive/ui/translations/main_pt-BR.ts
  17. 14
      selfdrive/ui/translations/main_zh-CHS.ts
  18. 36
      selfdrive/ui/translations/main_zh-CHT.ts

2
cereal

@ -1 +1 @@
Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d
Subproject commit e4130c90558dfb491e132992dce36e0e620e070a

23
selfdrive/car/gm/interface.py
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@ -71,10 +71,11 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
# Some GMs need some tolerance above 10 kph to avoid a fault
ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
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
@ -138,25 +139,25 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.49
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.49
ret.centerToFront = ret.wheelbase * 0.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
elif candidate == CAR.BOLT_EUV:
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
ret.minEnableSpeed = -1
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.675
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.centerToFront = 2.15 # measured
tire_stiffness_factor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -170,6 +171,14 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
ret.minEnableSpeed = -1
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

12
selfdrive/car/gm/values.py
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@ -58,8 +58,10 @@ class CAR:
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
BOLT_EV = "CHEVROLET BOLT EV 2022"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
class Footnote(Enum):
@ -84,11 +86,13 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
}
@ -166,13 +170,17 @@ FINGERPRINTS = {
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
}],
CAR.EQUINOX: [
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
}],
}
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}
CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
STEER_THRESHOLD = 1.0

4
selfdrive/car/mazda/interface.py
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@ -10,10 +10,6 @@ EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

4
selfdrive/car/mock/interface.py
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@ -28,10 +28,6 @@ class CarInterface(CarInterfaceBase):
self.yaw_rate = 0.
self.yaw_rate_meas = 0.
@staticmethod
def compute_gb(accel, speed):
return accel
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

2
selfdrive/car/tests/routes.py
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@ -21,6 +21,8 @@ non_tested_cars = [
GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA,
GM.MALIBU,
GM.EQUINOX,
GM.BOLT_EV,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H,

2
selfdrive/car/torque_data/override.yaml
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@ -25,8 +25,10 @@ KIA EV6 2022: [3.5, 3.0, 0.0]
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
ef5395e5f36550d2b485216eee5406bf6062e9c9
a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1

30
selfdrive/test/process_replay/test_processes.py
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@ -38,21 +38,21 @@ original_segments = [
]
segments = [
("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"),
("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
("GM", "regen76027B408B7|2022-08-16--19-56-58--0"),
("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"),
("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"),
("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"),
("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"),
("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"),
("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"),
("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"),
("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"),
("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"),
("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"),
("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"),
("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"),
("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"),
("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"),
("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"),
]
# dashcamOnly makes don't need to be tested until a full port is done

3
selfdrive/ui/qt/maps/map.cc
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@ -204,7 +204,8 @@ void MapWindow::updateState(const UIState &s) {
if (zoom_counter == 0) {
m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
} else {
zoom_counter = -1;
} else if (zoom_counter > 0) {
zoom_counter--;
}

2
selfdrive/ui/qt/maps/map.h
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@ -98,7 +98,7 @@ private:
// Panning
QPointF m_lastPos;
int pan_counter = 0;
int zoom_counter = 0;
int zoom_counter = -1;
// Position
std::optional<QMapbox::Coordinate> last_position;

4
selfdrive/ui/qt/offroad/settings.cc
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@ -134,8 +134,8 @@ void TogglesPanel::updateToggles() {
e2e_toggle->setEnabled(false);
params.remove("EndToEndLong");
const QString no_long = "openpilot longitudinal control is not currently available for this car.";
const QString exp_long = "Enable experimental longitudinal control to enable this.";
const QString no_long = tr("openpilot longitudinal control is not currently available for this car.");
const QString exp_long = tr("Enable experimental longitudinal control to enable this.");
e2e_toggle->setDescription("<b>" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "</b><br><br>" + e2e_description);
}

2
selfdrive/ui/qt/offroad/software_settings.cc
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@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL"));
connect(installBtn, &ButtonControl::clicked, [=]() {
installBtn->setEnabled(false);
params.putBool("DoShutdown", true);
params.putBool("DoReboot", true);
});
addItem(installBtn);

28
selfdrive/ui/translations/main_ja.ts
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@ -985,42 +985,42 @@ location set</source>
<message>
<location filename="../qt/offroad/software_settings.cc" line="+24"/>
<source>Updates are only downloaded while the car is off.</source>
<translation type="unfinished"></translation>
<translation>車の電源がオフの間のみ、アップデートのダウンロードが行われます。</translation>
</message>
<message>
<location line="+5"/>
<source>Current Version</source>
<translation type="unfinished"></translation>
<translation>現在のバージョン</translation>
</message>
<message>
<location line="+4"/>
<source>Download</source>
<translation type="unfinished"></translation>
<translation>ダウンロード</translation>
</message>
<message>
<location line="+12"/>
<source>Install Update</source>
<translation type="unfinished"></translation>
<translation>アップデート</translation>
</message>
<message>
<location line="+0"/>
<source>INSTALL</source>
<translation type="unfinished"></translation>
<translation>インストール</translation>
</message>
<message>
<location line="+8"/>
<source>Target Branch</source>
<translation type="unfinished"></translation>
<translation>対象のブランチ</translation>
</message>
<message>
<location line="+0"/>
<source>SELECT</source>
<translation type="unfinished"></translation>
<translation>選択</translation>
</message>
<message>
<location line="+13"/>
<source>Select a branch</source>
<translation type="unfinished"></translation>
<translation>ブランチを選択</translation>
</message>
<message>
<location line="+12"/>
@ -1187,7 +1187,17 @@ location set</source>
<translation>アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。</translation>
</message>
<message>
<location line="-55"/>
<location line="+24"/>
<source>openpilot longitudinal control is not currently available for this car.</source>
<translation>openpilotによるアクセル制御は、この車では現在利用できません。</translation>
</message>
<message>
<location line="+1"/>
<source>Enable experimental longitudinal control to enable this.</source>
<translation>ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。</translation>
</message>
<message>
<location line="-80"/>
<source>Disengage On Accelerator Pedal</source>
<translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
</message>

12
selfdrive/ui/translations/main_ko.ts
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@ -1187,7 +1187,17 @@ location set</source>
<translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
</message>
<message>
<location line="-55"/>
<location line="+24"/>
<source>openpilot longitudinal control is not currently available for this car.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Enable experimental longitudinal control to enable this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-80"/>
<source>Disengage On Accelerator Pedal</source>
<translation>가속페달 조작시 해제</translation>
</message>

12
selfdrive/ui/translations/main_pt-BR.ts
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@ -1191,7 +1191,17 @@ trabalho definido</translation>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-55"/>
<location line="+24"/>
<source>openpilot longitudinal control is not currently available for this car.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Enable experimental longitudinal control to enable this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-80"/>
<source>Disengage On Accelerator Pedal</source>
<translation>Desacionar Com Pedal Do Acelerador</translation>
</message>

14
selfdrive/ui/translations/main_zh-CHS.ts
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@ -1167,7 +1167,7 @@ location set</source>
<message>
<location line="+11"/>
<source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
<translation type="unfinished"></translation>
<translation>🌮 端对端纵向控制（实验性功能） 🌮</translation>
</message>
<message>
<location line="+6"/>
@ -1182,10 +1182,20 @@ location set</source>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation>让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。</translation>
</message>
<message>
<location line="+24"/>
<source>openpilot longitudinal control is not currently available for this car.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Enable experimental longitudinal control to enable this.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-55"/>
<location line="-80"/>
<source>Disengage On Accelerator Pedal</source>
<translation>踩油门时取消控制</translation>
</message>

36
selfdrive/ui/translations/main_zh-CHT.ts
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@ -985,42 +985,42 @@ location set</source>
<message>
<location filename="../qt/offroad/software_settings.cc" line="+24"/>
<source>Updates are only downloaded while the car is off.</source>
<translation type="unfinished"></translation>
<translation>系統更新只會在熄火時下載。</translation>
</message>
<message>
<location line="+5"/>
<source>Current Version</source>
<translation type="unfinished"></translation>
<translation>當前版本</translation>
</message>
<message>
<location line="+4"/>
<source>Download</source>
<translation type="unfinished"></translation>
<translation>下載</translation>
</message>
<message>
<location line="+12"/>
<source>Install Update</source>
<translation type="unfinished"></translation>
<translation>安裝更新</translation>
</message>
<message>
<location line="+0"/>
<source>INSTALL</source>
<translation type="unfinished"></translation>
<translation>安裝</translation>
</message>
<message>
<location line="+8"/>
<source>Target Branch</source>
<translation type="unfinished"></translation>
<translation>目標分支</translation>
</message>
<message>
<location line="+0"/>
<source>SELECT</source>
<translation type="unfinished"></translation>
<translation>選取</translation>
</message>
<message>
<location line="+13"/>
<source>Select a branch</source>
<translation type="unfinished"></translation>
<translation>選取一個分支</translation>
</message>
<message>
<location line="+12"/>
@ -1169,25 +1169,35 @@ location set</source>
<message>
<location line="+11"/>
<source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
<translation type="unfinished"></translation>
<translation>🌮 端對端縱向控制（實驗性功能） 🌮</translation>
</message>
<message>
<location line="+6"/>
<source>Experimental openpilot longitudinal control</source>
<translation type="unfinished"></translation>
<translation>使用 openpilot 縱向控制（實驗）</translation>
</message>
<message>
<location line="+1"/>
<source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
<translation>&lt;b&gt;注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。&lt;/b&gt;</translation>
</message>
<message>
<location line="+42"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
<translation>讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。</translation>
</message>
<message>
<location line="+24"/>
<source>openpilot longitudinal control is not currently available for this car.</source>
<translation>openpilot 縱向控制目前不適用於這輛車。</translation>
</message>
<message>
<location line="+1"/>
<source>Enable experimental longitudinal control to enable this.</source>
<translation>打開縱向控制（實驗）以啟用此功能。</translation>
</message>
<message>
<location line="-55"/>
<location line="-80"/>
<source>Disengage On Accelerator Pedal</source>
<translation>油門取消控車</translation>
</message>

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