From 6a7ce3a4d6d537363b5785c788fd24bcc66b98d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 02:46:29 -0700 Subject: [PATCH] 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: 2fb7b4ffad204901033273f6f92f289bbce19f06 --- docs/CARS.md | 6 ++-- selfdrive/car/gm/carcontroller.py | 22 +++++++----- selfdrive/car/gm/gmcan.py | 10 ++++-- selfdrive/car/gm/interface.py | 38 ++++++++++++++------ selfdrive/car/gm/values.py | 44 ++++++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 78 insertions(+), 44 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b79ba6a478..af2c3007a4 100644 --- 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[2](#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[1](#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[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Volt 2017-18[2](#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[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |GMC|Acadia 2018[2](#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[1](#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[1](#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[1](#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| diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index a75eb89f25..a6cd2f19b9 100644 --- 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 diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 42df2c6afd..56c981326f 100644 --- 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 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 905b85436a..9ef7f388ff 100755 --- 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 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 85e291aaf6..eace6b6aca 100644 --- 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: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index be8b59f6a4..7b5d954c43 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -46922acfb984342daa35734e4297ff9d2ddfb18b \ No newline at end of file +d37afafc466661262b34631e32e4c383f1277bc5 \ No newline at end of file