GM camera ACC: vision-only ACC behind toggle (#25631)

* put gm camera voacc behind disable radar toggle * bump panda * bump panda * bump panda * experimental long * fixes * car control notes and fixes for Bolt EUV * might enable stop and go * consistent name * min enable speed seems to be around 5 kph * camera acc can engage under 5 kph if stopped * comment * comment * remove this for now * only real brake * comments * update max brake * bump * clean up/fix * same if * simplify * fix * old comment * no brake_pressed * temporary fault fix * tune longitudinal * update docs * bump panda * GM camera ACC cars have no regen in ACC * cleaner * cleaner * fix * set max gas * fixes * fix LKAS unavailable warning from camera * only camera * bump panda * bump panda * bump panda * bump panda * clean up gmcan * clean up CC * flip * rm * rm comment * clean up * custom starting/stopping probably not needed * Update selfdrive/car/gm/carcontroller.py * fix crash * long tuning * we need long control state to resume * CAMERA_ACC_CAR not needed * no interp on accel * tuning * formatting * formatting * formatting * formatting * formatting * no need to init ccp * makes more sense now old-commit-hash: 2fb7b4ffad
3 years ago · 6a7ce3a4d6
parent b3ac1c6fae
commit 6a7ce3a4d6
6 changed files with 78 additions and 44 deletions
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |GMC|Acadia 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -5,10 +5,11 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
+LongCtrlState = car.CarControl.Actuators.LongControlState

 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
@ -30,7 +31,7 @@ class CarController:
    self.sent_lka_steering_cmd = False
    self.lka_icon_status_last = (False, False)

-    self.params = CarControllerParams()
+    self.params = CarControllerParams(self.CP)

    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@ -83,20 +84,23 @@ class CarController:
          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = 0
        else:
-          if self.CP.carFingerprint in EV_CAR:
-            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-          else:
-            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))

        idx = (self.frame // 4) % 4

        at_full_stop = CC.longActive and CS.out.standstill
        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        friction_brake_bus = CanBus.CHASSIS
+        # GM Camera exceptions
+        # TODO: can we always check the longControlState?
+        if self.CP.networkLocation == NetworkLocation.fwdCamera:
+          at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
+          friction_brake_bus = CanBus.POWERTRAIN
+
        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))

        # Send dashboard UI commands (ACC status)
        send_fcw = hud_alert == VisualAlert.fcw
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -1,4 +1,5 @@
 from selfdrive.car import make_can_msg
+from selfdrive.car.gm.values import CAR


 def create_buttons(packer, bus, idx, button):
@ -52,15 +53,20 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)


-def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
+def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
  mode = 0x1
+
+  # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
+  if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
+    mode = 0x9
+
  if apply_brake > 0:
    mode = 0xa
    if at_full_stop:
      mode = 0xd

    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off.
+    # but currently it conflicts with OP controls, so turned off. Not set by all cars
    #elif near_stop:
    #  mode = 0xb

--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
 class CarInterface(CarInterfaceBase):
  @staticmethod
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    params = CarControllerParams()
-    return params.ACCEL_MIN, params.ACCEL_MAX
+    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX

  # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
  @staticmethod
@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase):
    else:
      ret.transmissionType = TransmissionType.automatic

+    ret.longitudinalTuning.deadzoneBP = [0.]
+    ret.longitudinalTuning.deadzoneV = [0.15]
+
+    ret.longitudinalTuning.kpBP = [5., 35.]
+    ret.longitudinalTuning.kiBP = [0.]
+
    if candidate in CAMERA_ACC_CAR:
-      ret.openpilotLongitudinalControl = False
+      ret.experimentalLongitudinalAvailable = True
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.radarOffCan = True  # no radar
      ret.pcmCruise = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+
+      if experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+
+        # Tuning
+        ret.longitudinalTuning.kpV = [2.0, 1.5]
+        ret.longitudinalTuning.kiV = [0.72]
+        ret.stopAccel = -2.0
+        ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
+        ret.longitudinalActuatorDelayUpperBound = 0.5
+
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase):
      # supports stop and go, but initial engage must (conservatively) be above 18mph
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS

+      # Tuning
+      ret.longitudinalTuning.kpV = [2.4, 1.5]
+      ret.longitudinalTuning.kiV = [0.36]
+
    # 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.
@ -85,14 +109,6 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
    tire_stiffness_factor = 0.444  # not optimized yet

-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kpV = [2.4, 1.5]
-    ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [0.36]
-
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
    ret.steerLimitTimer = 0.4
    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz

--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -24,15 +24,6 @@ class CarControllerParams:
  ADAS_KEEPALIVE_STEP = 100
  CAMERA_KEEPALIVE_STEP = 100

-  # Volt gas/brake lookups
-  # TODO: These values should be confirmed on non-Volt vehicles.
-  # MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
-  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048  # Coasting
-  MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
-  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-  INACTIVE_REGEN = 1404
-
  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
  # perform the closed loop control, and might need some
  # to apply some more braking if we're on a downhill slope.
@ -41,15 +32,32 @@ class CarControllerParams:
  ACCEL_MAX = 2.  # m/s^2
  ACCEL_MIN = -4.  # m/s^2

-  # ICE has much less engine braking force compared to regen in EVs,
-  # lower threshold removes some braking deadzone
-  GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
-  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
-  GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
-  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
-  BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
+  def __init__(self, CP):
+    # Gas/brake lookups
+    self.ZERO_GAS = 2048  # Coasting
+    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
+
+    if CP.carFingerprint in CAMERA_ACC_CAR:
+      self.MAX_GAS = 3400
+      self.MAX_ACC_REGEN = 1514
+      self.INACTIVE_REGEN = 1554
+      # Camera ACC vehicles have no regen while enabled.
+      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+      max_regen_acceleration = 0.
+
+    else:
+      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 1404
+      # ICE has much less engine braking force compared to regen in EVs,
+      # lower threshold removes some braking deadzone
+      max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+
+    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
+
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
+    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]


 class CAR:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-46922acfb984342daa35734e4297ff9d2ddfb18b
+d37afafc466661262b34631e32e4c383f1277bc5