diff --git a/RELEASES.md b/RELEASES.md index 0ea4241a35..eb656aad91 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -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) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 3bc918f784..623432ccdf 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -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)](##)|Honda Nidec|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|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)](##)|Honda Bosch B|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index e833b7b9bc..d9fb8d76cf 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -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 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 02e37492d3..ee0a4df3e0 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -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