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HR-V is diff enought to split from Civic22

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pull/27438/head
alexandresato 3 years ago
parent 06598113d0
commit 65cbd36266
4 changed files with 14 additions and 2 deletions
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  1. 1
      RELEASES.md
  2. 3
      docs/CARS.md
  3. 11
      selfdrive/car/honda/interface.py
  4. 1
      selfdrive/car/tests/routes.py

1
RELEASES.md
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@ -1,6 +1,7 @@
Version 0.9.2 (2023-03-XX)
========================
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Honda HR-V Vezel 2023 non US support thanks to Alex Takeda!
Version 0.9.1 (2023-02-23)
========================

3
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 237 Supported Cars
# 238 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -53,6 +53,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|Honda|HR-V/VEZEL 2023 NON US|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V/VEZEL 2023 NON US">Honda Bosch B</a>|<a href="https://youtu.be/1O1u9jzpKD0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||

11
selfdrive/car/honda/interface.py
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@ -106,7 +106,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022, CAR.HRV_2023_NON_US):
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
@ -202,6 +202,15 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HRV_2023_NON_US:
ret.mass = 1305. + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.38
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG

1
selfdrive/car/tests/routes.py
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@ -65,6 +65,7 @@ routes = [
CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
CarTestRoute("147613502316e718|2023-02-24--13-03-54", HONDA.HRV_2023_NON_US),
CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T

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