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Merge remote-tracking branch 'upstream/master' into auto-gen-star-defs

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pull/24809/head
Shane Smiskol 3 years ago
parent 9e1516433d f398b3efc9
commit 6f7ab6484f
45 changed files with 630 additions and 518 deletions
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  1. 2
      Pipfile
  2. 448
      Pipfile.lock
  3. 2
      cereal
  4. 6
      common/modeldata.h
  5. 68
      docs/CARS.md
  6. 1
      release/files_common
  7. 2
      selfdrive/camerad/cameras/camera_common.cc
  8. 2
      selfdrive/camerad/cameras/camera_qcom2.cc
  9. 8
      selfdrive/car/chrysler/interface.py
  10. 2
      selfdrive/car/docs_definitions.py
  11. 2
      selfdrive/car/gm/interface.py
  12. 11
      selfdrive/car/honda/interface.py
  13. 8
      selfdrive/car/hyundai/interface.py
  14. 2
      selfdrive/car/hyundai/values.py
  15. 10
      selfdrive/car/interfaces.py
  16. 2
      selfdrive/car/subaru/interface.py
  17. 5
      selfdrive/car/tests/test_car_interfaces.py
  18. 6
      selfdrive/car/tests/test_docs.py
  19. 1
      selfdrive/car/torque_data.json
  20. 12
      selfdrive/car/toyota/interface.py
  21. 2
      selfdrive/car/toyota/values.py
  22. 6
      selfdrive/car/volkswagen/interface.py
  23. 15
      selfdrive/debug/count_events.py
  24. 2
      selfdrive/hardware/tici/test_power_draw.py
  25. 6
      selfdrive/modeld/dmonitoringmodeld.cc
  26. 234
      selfdrive/modeld/models/dmonitoring.cc
  27. 33
      selfdrive/modeld/models/dmonitoring.h
  28. 4
      selfdrive/modeld/models/dmonitoring_model.current
  29. 4
      selfdrive/modeld/models/dmonitoring_model.onnx
  30. 4
      selfdrive/modeld/models/dmonitoring_model_q.dlc
  31. 21
      selfdrive/modeld/runners/onnx_runner.py
  32. 6
      selfdrive/modeld/runners/onnxmodel.cc
  33. 3
      selfdrive/modeld/runners/onnxmodel.h
  34. 12
      selfdrive/modeld/runners/snpemodel.cc
  35. 3
      selfdrive/modeld/runners/snpemodel.h
  36. 7
      selfdrive/monitoring/dmonitoringd.py
  37. 90
      selfdrive/monitoring/driver_monitor.py
  38. 24
      selfdrive/monitoring/test_monitoring.py
  39. 8
      selfdrive/test/process_replay/model_replay.py
  40. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  41. 2
      selfdrive/test/process_replay/process_replay.py
  42. 2
      selfdrive/test/process_replay/ref_commit
  43. 6
      selfdrive/test/test_onroad.py
  44. 43
      selfdrive/ui/qt/offroad/driverview.cc
  45. 9
      selfdrive/ui/qt/widgets/cameraview.cc

2
Pipfile
Unescape View File

@ -84,6 +84,8 @@ urllib3 = "*"
utm = "*" utm = "*"
websocket_client = "*" websocket_client = "*"
hatanaka = "==2.4" hatanaka = "==2.4"
PyQt5 = "==5.15.4"
PyQt5-sip = "==12.9.0"
[requires] [requires]
python_version = "3.8" python_version = "3.8"

448
Pipfile.lock generated
Unescape View File

@ -1,7 +1,7 @@
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@ -1665,11 +1710,11 @@
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@ -1688,11 +1733,11 @@
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@ -1707,7 +1752,7 @@
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}, },
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@ -1918,41 +1963,40 @@
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@ -1963,11 +2007,11 @@
}, },
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@ -2014,16 +2058,16 @@
}, },
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@ -2329,11 +2373,11 @@
}, },
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2
cereal

@ -1 +1 @@
Subproject commit 96cbed052ab1d69ea15da94dc2b882d59a786347 Subproject commit ff49c8e126ea04889af13d690ceaf520ce7084d2

6
common/modeldata.h
Unescape View File

@ -24,6 +24,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0); constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0); constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
namespace tici_dm_crop {
const int x_offset = -72;
const int y_offset = -144;
const int width = 954;
};
const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2, const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2, 0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}}; 0.0, 0.0, 1.0}};

68
docs/CARS.md
Unescape View File

@ -35,7 +35,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.** **All supported cars can move between the tiers as support changes.**
# Gold - 29 cars # Gold - 28 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -52,10 +52,9 @@ How We Rate The Cars
|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -69,14 +68,13 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
# Silver - 78 cars # Silver - 75 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -93,7 +91,6 @@ How We Rate The Cars
|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -106,15 +103,16 @@ How We Rate The Cars
|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -125,18 +123,17 @@ How We Rate The Cars
|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -145,57 +142,59 @@ How We Rate The Cars
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
# Bronze - 66 cars # Bronze - 70 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>| |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>| |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>| |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -207,20 +206,21 @@ How We Rate The Cars
|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

1
release/files_common
Unescape View File

@ -104,6 +104,7 @@ selfdrive/car/fw_versions.py
selfdrive/car/isotp_parallel_query.py selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py selfdrive/car/tests/test_car_interfaces.py
selfdrive/car/torque_data.json
selfdrive/car/body/*.py selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py selfdrive/car/chrysler/*.py

2
selfdrive/camerad/cameras/camera_common.cc
Unescape View File

@ -239,7 +239,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
int in_stride = b->cur_yuv_buf->stride; int in_stride = b->cur_yuv_buf->stride;
// make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); std::unique_ptr<uint8[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
uint8_t *y_plane = buf.get(); uint8_t *y_plane = buf.get();
uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height;
uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4;

2
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -837,7 +837,7 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road); s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
s->sm = new SubMaster({"driverStateV2"}); s->sm = new SubMaster({"driverState"});
s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
} }

8
selfdrive/car/chrysler/interface.py
Unescape View File

@ -23,14 +23,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRateCost = 0.7 ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4 ret.steerLimitTimer = 0.4
# set max lateral acceleration
if candidate in (CAR.PACIFICA_2018, CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.maxLateralAccel = 1.6
if candidate in (CAR.PACIFICA_2018_HYBRID,):
ret.maxLateralAccel = 1.4
if candidate in (CAR.PACIFICA_2017_HYBRID,):
ret.maxLateralAccel = 1.2
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7 ret.steerRatio = 12.7

2
selfdrive/car/docs_definitions.py
Unescape View File

@ -7,7 +7,7 @@ from enum import Enum
from typing import Dict, List, Optional, Union, no_type_check from typing import Dict, List, Optional, Union, no_type_check
TACO_TORQUE_THRESHOLD = 2.5 # m/s^2 TACO_TORQUE_THRESHOLD = 2.5 # m/s^2
GREAT_TORQUE_THRESHOLD = 1.5 # m/s^2 GREAT_TORQUE_THRESHOLD = 1.4 # m/s^2
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2

2
selfdrive/car/gm/interface.py
Unescape View File

@ -83,7 +83,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kpV = [0., 0.17]
@ -111,7 +110,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.86 ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46 ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
ret.maxLateralAccel = 1.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
elif candidate == CAR.BUICK_REGAL: elif candidate == CAR.BUICK_REGAL:

11
selfdrive/car/honda/interface.py
Unescape View File

@ -100,7 +100,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else: else:
ret.maxLateralAccel = 0.4
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1. tire_stiffness_factor = 1.
@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.steerRatio = 15.38 # 10.93 is end-to-end spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 1. tire_stiffness_factor = 1.
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH): elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@ -128,7 +126,6 @@ class CarInterface(CarInterfaceBase):
if eps_modified: if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else: else:
ret.maxLateralAccel = 1.6
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX: elif candidate == CAR.ACURA_ILX:
@ -165,7 +162,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else: else:
ret.maxLateralAccel = 1.7
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
tire_stiffness_factor = 0.677 tire_stiffness_factor = 0.677
@ -190,7 +186,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.06 ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 0.75 tire_stiffness_factor = 0.75
ret.maxLateralAccel = 1.7
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED: elif candidate == CAR.FREED:
@ -222,7 +217,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.38 ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444 tire_stiffness_factor = 0.444
ret.maxLateralAccel = 0.9
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
@ -232,7 +226,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.75 ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec ret.steerRatio = 11.95 # as spec
ret.maxLateralAccel = 1.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677 tire_stiffness_factor = 0.677
@ -245,7 +238,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.35 # as spec ret.steerRatio = 14.35 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 0.82 tire_stiffness_factor = 0.82
ret.maxLateralAccel = 0.8
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN: elif candidate == CAR.ODYSSEY_CHN:
@ -266,7 +258,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.25 # as spec ret.steerRatio = 17.25 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 0.444 tire_stiffness_factor = 0.444
ret.maxLateralAccel = 1.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE: elif candidate == CAR.RIDGELINE:
@ -277,7 +268,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.59 # as spec ret.steerRatio = 15.59 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 0.444 tire_stiffness_factor = 0.444
ret.maxLateralAccel = 1.3
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT: elif candidate == CAR.INSIGHT:
@ -288,7 +278,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.steerRatio = 15.0 # 12.58 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end 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 = 0.82 tire_stiffness_factor = 0.82
ret.maxLateralAccel = 1.4
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E: elif candidate == CAR.HONDA_E:

8
selfdrive/car/hyundai/interface.py
Unescape View File

@ -63,7 +63,6 @@ class CarInterface(CarInterfaceBase):
# Values from optimizer # Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82 tire_stiffness_factor = 0.82
ret.maxLateralAccel = 3.2
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
@ -72,7 +71,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.84 ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
ret.maxLateralAccel = 2.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.SONATA_LF: elif candidate == CAR.SONATA_LF:
@ -80,7 +78,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4497. * CV.LB_TO_KG ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804 ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.maxLateralAccel = 1.8
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.PALISADE: elif candidate == CAR.PALISADE:
@ -89,7 +86,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.90 ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15 ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63 tire_stiffness_factor = 0.63
ret.maxLateralAccel = 2.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
@ -146,7 +142,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.maxLateralAccel = 3.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
@ -196,7 +191,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
tire_stiffness_factor = 0.385 tire_stiffness_factor = 0.385
ret.maxLateralAccel = 2.9
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate == CAR.KIA_NIRO_HEV: if candidate == CAR.KIA_NIRO_HEV:
@ -228,7 +222,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1825. + STD_CARGO_KG ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
ret.maxLateralAccel = 2.4
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_FORTE: elif candidate == CAR.KIA_FORTE:
@ -254,7 +247,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.85 ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
ret.maxLateralAccel = 2.1
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_EV6: elif candidate == CAR.KIA_EV6:

2
selfdrive/car/hyundai/values.py
Unescape View File

@ -501,6 +501,7 @@ FW_VERSIONS = {
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51', b'\xf1\x00LFF LKAS AT USA LHD 1.00 1.01 95740-C1000 E51',
b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5',
@ -509,6 +510,7 @@ FW_VERSIONS = {
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00',
b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm',
], ],
}, },
CAR.TUCSON: { CAR.TUCSON: {

10
selfdrive/car/interfaces.py
Unescape View File

@ -1,3 +1,4 @@
import json
import os import os
import time import time
from abc import abstractmethod, ABC from abc import abstractmethod, ABC
@ -19,6 +20,7 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0 ACCEL_MAX = 2.0
ACCEL_MIN = -3.5 ACCEL_MIN = -3.5
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
# generic car and radar interfaces # generic car and radar interfaces
@ -81,7 +83,7 @@ class CarInterfaceBase(ABC):
ret.steerControlType = car.CarParams.SteerControlType.torque ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0. ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0 ret.wheelSpeedFactor = 1.0
ret.maxLateralAccel = float('nan') ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@ -105,6 +107,12 @@ class CarInterfaceBase(ABC):
ret.steerLimitTimer = 1.0 ret.steerLimitTimer = 1.0
return ret return ret
@staticmethod
def get_torque_params(candidate, default=float('NaN')):
with open(TORQUE_PARAMS_PATH) as f:
data = json.load(f)
return {key: data[key].get(candidate, default) for key in data}
@abstractmethod @abstractmethod
def _update(self, c: car.CarControl) -> car.CarState: def _update(self, c: car.CarControl) -> car.CarState:
pass pass

2
selfdrive/car/subaru/interface.py
Unescape View File

@ -51,7 +51,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.maxLateralAccel = 1.3
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
@ -62,7 +61,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.maxLateralAccel = 3.2
ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]

5
selfdrive/car/tests/test_car_interfaces.py
Unescape View File

@ -1,4 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import math
import unittest import unittest
import importlib import importlib
from parameterized import parameterized from parameterized import parameterized
@ -39,7 +40,9 @@ class TestCarInterfaces(unittest.TestCase):
if tuning == 'pid': if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV)) self.assertTrue(len(car_params.lateralTuning.pid.kpV))
elif tuning == 'torque': elif tuning == 'torque':
self.assertTrue(car_params.lateralTuning.torque.kf > 0) kf = car_params.lateralTuning.torque.kf
self.assertTrue(not math.isnan(kf) and kf > 0)
self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction))
elif tuning == 'indi': elif tuning == 'indi':
self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV)) self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV))

6
selfdrive/car/tests/test_docs.py
Unescape View File

@ -3,6 +3,7 @@ import unittest
from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
from selfdrive.car.docs_definitions import Column, Star
class TestCarDocs(unittest.TestCase): class TestCarDocs(unittest.TestCase):
@ -37,6 +38,11 @@ class TestCarDocs(unittest.TestCase):
if "rav4" in tokens: if "rav4" in tokens:
self.assertIn("RAV4", car.model, "Use correct capitalization") self.assertIn("RAV4", car.model, "Use correct capitalization")
def test_torque_star(self):
for car in self.all_cars:
if car.car_name == "honda":
self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

1
selfdrive/car/torque_data.json
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File diff suppressed because one or more lines are too long

12
selfdrive/car/toyota/interface.py
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@ -74,7 +74,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.035 ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533 tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.maxLateralAccel = 1.4
set_lat_tune(ret.lateralTuning, LatTunes.PID_C) set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.CHR, CAR.CHRH): elif candidate in (CAR.CHR, CAR.CHRH):
@ -83,7 +82,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.6 ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933 tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 1.3
set_lat_tune(ret.lateralTuning, LatTunes.PID_F) set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
@ -96,7 +94,6 @@ class CarInterface(CarInterfaceBase):
ret.maxLateralAccel = 2.4 ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05) set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=ret.maxLateralAccel, FRICTION=0.05)
else: else:
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_C) set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@ -105,7 +102,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0 ret.steerRatio = 16.0
tire_stiffness_factor = 0.8 tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_G) set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
@ -114,7 +110,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0 ret.steerRatio = 16.0
tire_stiffness_factor = 0.8 tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
ret.maxLateralAccel = 1.8
set_lat_tune(ret.lateralTuning, LatTunes.PID_G) set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@ -125,7 +120,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983 tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.maxLateralAccel = 1.6
set_lat_tune(ret.lateralTuning, LatTunes.PID_H) set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
@ -134,7 +128,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.3 ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933 tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.maxLateralAccel = 2.5
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
@ -159,7 +152,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0 # not optimized ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.maxLateralAccel = 2.2
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA: elif candidate == CAR.SIENNA:
@ -168,7 +160,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.5 ret.steerRatio = 15.5
tire_stiffness_factor = 0.444 tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 1.6
set_lat_tune(ret.lateralTuning, LatTunes.PID_J) set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
@ -192,7 +183,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.7 ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_C) set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2: elif candidate == CAR.PRIUS_TSS2:
@ -201,7 +191,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.4 # True steerRatio from older prius ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.0
set_lat_tune(ret.lateralTuning, LatTunes.PID_N) set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI: elif candidate == CAR.MIRAI:
@ -210,7 +199,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8 ret.steerRatio = 14.8
tire_stiffness_factor = 0.8 tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
ret.maxLateralAccel = 2.4
set_lat_tune(ret.lateralTuning, LatTunes.PID_C) set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):

2
selfdrive/car/toyota/values.py
Unescape View File

@ -1585,7 +1585,7 @@ FW_VERSIONS = {
], ],
}, },
CAR.LEXUS_NXH_TSS2: { CAR.LEXUS_NXH_TSS2: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x7e0, None): [
b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.esp, 0x7b0, None): [ (Ecu.esp, 0x7b0, None): [

6
selfdrive/car/volkswagen/interface.py
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@ -64,17 +64,14 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ATLAS_MK1: elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98 ret.wheelbase = 2.98
ret.maxLateralAccel = 1.4
elif candidate == CAR.GOLF_MK7: elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62 ret.wheelbase = 2.62
ret.maxLateralAccel = 1.5
elif candidate == CAR.JETTA_MK7: elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71 ret.wheelbase = 2.71
ret.maxLateralAccel = 1.2
elif candidate == CAR.PASSAT_MK8: elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG ret.mass = 1551 + STD_CARGO_KG
@ -95,7 +92,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.TIGUAN_MK2: elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74 ret.wheelbase = 2.74
ret.maxLateralAccel = 1.1
elif candidate == CAR.TOURAN_MK2: elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG ret.mass = 1516 + STD_CARGO_KG
@ -113,7 +109,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.AUDI_A3_MK3: elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61 ret.wheelbase = 2.61
ret.maxLateralAccel = 1.7
elif candidate == CAR.AUDI_Q2_MK1: elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG ret.mass = 1205 + STD_CARGO_KG
@ -122,7 +117,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.AUDI_Q3_MK2: elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG ret.mass = 1623 + STD_CARGO_KG
ret.wheelbase = 2.68 ret.wheelbase = 2.68
ret.maxLateralAccel = 1.6
elif candidate == CAR.SEAT_ATECA_MK1: elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG ret.mass = 1900 + STD_CARGO_KG

15
selfdrive/debug/count_events.py
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@ -4,6 +4,7 @@ from collections import Counter
from pprint import pprint from pprint import pprint
from tqdm import tqdm from tqdm import tqdm
from cereal.services import service_list
from tools.lib.route import Route from tools.lib.route import Route
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
@ -13,6 +14,9 @@ if __name__ == "__main__":
cnt_valid: Counter = Counter() cnt_valid: Counter = Counter()
cnt_events: Counter = Counter() cnt_events: Counter = Counter()
cams = [s for s in service_list if s.endswith('CameraState')]
cnt_cameras = dict.fromkeys(cams, 0)
for q in tqdm(r.qlog_paths()): for q in tqdm(r.qlog_paths()):
if q is None: if q is None:
continue continue
@ -21,12 +25,21 @@ if __name__ == "__main__":
if msg.which() == 'carEvents': if msg.which() == 'carEvents':
for e in msg.carEvents: for e in msg.carEvents:
cnt_events[e.name] += 1 cnt_events[e.name] += 1
elif msg.which() in cams:
cnt_cameras[msg.which()] += 1
if not msg.valid: if not msg.valid:
cnt_valid[msg.which()] += 1 cnt_valid[msg.which()] += 1
print("Events") print("Events")
pprint(cnt_events) pprint(cnt_events)
print("\n\n") print("\n")
print("Not valid") print("Not valid")
pprint(cnt_valid) pprint(cnt_valid)
print("\n")
print("Cameras")
for k, v in cnt_cameras.items():
print(" ", k.ljust(20), v)

2
selfdrive/hardware/tici/test_power_draw.py
Unescape View File

@ -21,7 +21,7 @@ class Proc:
PROCS = [ PROCS = [
Proc('camerad', 2.15), Proc('camerad', 2.15),
Proc('modeld', 1.0), Proc('modeld', 1.0),
Proc('dmonitoringmodeld', 0.35), Proc('dmonitoringmodeld', 0.25),
Proc('encoderd', 0.23), Proc('encoderd', 0.23),
] ]

6
selfdrive/modeld/dmonitoringmodeld.cc
Unescape View File

@ -12,7 +12,7 @@
ExitHandler do_exit; ExitHandler do_exit;
void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) { void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
PubMaster pm({"driverStateV2"}); PubMaster pm({"driverState"});
SubMaster sm({"liveCalibration"}); SubMaster sm({"liveCalibration"});
float calib[CALIB_LEN] = {0}; float calib[CALIB_LEN] = {0};
double last = 0; double last = 0;
@ -31,11 +31,11 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
} }
double t1 = millis_since_boot(); double t1 = millis_since_boot();
DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib); DMonitoringResult res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
double t2 = millis_since_boot(); double t2 = millis_since_boot();
// send dm packet // send dm packet
dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output); dmonitoring_publish(pm, extra.frame_id, res, (t2 - t1) / 1000.0, model.output);
//printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last); //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
last = t1; last = t1;

234
selfdrive/modeld/models/dmonitoring.cc
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@ -10,8 +10,8 @@
#include "selfdrive/modeld/models/dmonitoring.h" #include "selfdrive/modeld/models/dmonitoring.h"
constexpr int MODEL_WIDTH = 1440; constexpr int MODEL_WIDTH = 320;
constexpr int MODEL_HEIGHT = 960; constexpr int MODEL_HEIGHT = 640;
template <class T> template <class T>
static inline T *get_buffer(std::vector<T> &buf, const size_t size) { static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
@ -19,115 +19,199 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
return buf.data(); return buf.data();
} }
static inline void init_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
uint8_t *y = get_buffer(buf, width * height * 3 / 2);
uint8_t *u = y + width * height;
uint8_t *v = u + (width / 2) * (height / 2);
// needed on comma two to make the padded border black
// equivalent to RGB(0,0,0) in YUV space
memset(y, 16, width * height);
memset(u, 128, (width / 2) * (height / 2));
memset(v, 128, (width / 2) * (height / 2));
}
void dmonitoring_init(DMonitoringModelState* s) { void dmonitoring_init(DMonitoringModelState* s) {
s->is_rhd = Params().getBool("IsRHD"); s->is_rhd = Params().getBool("IsRHD");
for (int x = 0; x < std::size(s->tensor); ++x) {
s->tensor[x] = (x - 128.f) * 0.0078125f;
}
init_yuv_buf(s->resized_buf, MODEL_WIDTH, MODEL_HEIGHT);
#ifdef USE_ONNX_MODEL #ifdef USE_ONNX_MODEL
s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
#else #else
s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
#endif #endif
s->m->addCalib(s->calib, CALIB_LEN); s->m->addCalib(s->calib, CALIB_LEN);
} }
void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) { static inline auto get_yuv_buf(std::vector<uint8_t> &buf, const int width, int height) {
for (int i = 0; i < 3; ++i) { uint8_t *y = get_buffer(buf, width * height * 3 / 2);
ds_res.face_orientation[i] = s->output[out_idx_offset+i] * REG_SCALE; uint8_t *u = y + width * height;
ds_res.face_orientation_std[i] = exp(s->output[out_idx_offset+6+i]); uint8_t *v = u + (width /2) * (height / 2);
} return std::make_tuple(y, u, v);
for (int i = 0; i < 2; ++i) {
ds_res.face_position[i] = s->output[out_idx_offset+3+i] * REG_SCALE;
ds_res.face_position_std[i] = exp(s->output[out_idx_offset+9+i]);
}
for (int i = 0; i < 4; ++i) {
ds_res.ready_prob[i] = sigmoid(s->output[out_idx_offset+35+i]);
}
for (int i = 0; i < 2; ++i) {
ds_res.not_ready_prob[i] = sigmoid(s->output[out_idx_offset+39+i]);
}
ds_res.face_prob = sigmoid(s->output[out_idx_offset+12]);
ds_res.left_eye_prob = sigmoid(s->output[out_idx_offset+21]);
ds_res.right_eye_prob = sigmoid(s->output[out_idx_offset+30]);
ds_res.left_blink_prob = sigmoid(s->output[out_idx_offset+31]);
ds_res.right_blink_prob = sigmoid(s->output[out_idx_offset+32]);
ds_res.sunglasses_prob = sigmoid(s->output[out_idx_offset+33]);
ds_res.occluded_prob = sigmoid(s->output[out_idx_offset+34]);
} }
void fill_driver_data(cereal::DriverStateV2::DriverData::Builder ddata, const DriverStateResult &ds_res) { struct Rect {int x, y, w, h;};
ddata.setFaceOrientation(ds_res.face_orientation); void crop_nv12_to_yuv(uint8_t *raw, int stride, int uv_offset, uint8_t *y, uint8_t *u, uint8_t *v, const Rect &rect) {
ddata.setFaceOrientationStd(ds_res.face_orientation_std); uint8_t *raw_y = raw;
ddata.setFacePosition(ds_res.face_position); uint8_t *raw_uv = raw_y + uv_offset;
ddata.setFacePositionStd(ds_res.face_position_std); for (int r = 0; r < rect.h / 2; r++) {
ddata.setFaceProb(ds_res.face_prob); memcpy(y + 2 * r * rect.w, raw_y + (2 * r + rect.y) * stride + rect.x, rect.w);
ddata.setLeftEyeProb(ds_res.left_eye_prob); memcpy(y + (2 * r + 1) * rect.w, raw_y + (2 * r + rect.y + 1) * stride + rect.x, rect.w);
ddata.setRightEyeProb(ds_res.right_eye_prob); for (int h = 0; h < rect.w / 2; h++) {
ddata.setLeftBlinkProb(ds_res.left_blink_prob); u[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2];
ddata.setRightBlinkProb(ds_res.right_blink_prob); v[r * rect.w/2 + h] = raw_uv[(r + (rect.y/2)) * stride + (rect.x/2 + h)*2 + 1];
ddata.setSunglassesProb(ds_res.sunglasses_prob); }
ddata.setOccludedProb(ds_res.occluded_prob); }
ddata.setReadyProb(ds_res.ready_prob);
ddata.setNotReadyProb(ds_res.not_ready_prob);
} }
DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) { DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib) {
int v_off = height - MODEL_HEIGHT; const int cropped_height = tici_dm_crop::width / 1.33;
int h_off = (width - MODEL_WIDTH) / 2; Rect crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
int yuv_buf_len = MODEL_WIDTH * MODEL_HEIGHT; height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
cropped_height / 2,
uint8_t *raw_buf = (uint8_t *) stream_buf; cropped_height};
// vertical crop free if (!s->is_rhd) {
uint8_t *raw_y_start = raw_buf + stride * v_off; crop_rect.x += tici_dm_crop::width - crop_rect.w;
}
uint8_t *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len); int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
auto [cropped_y, cropped_u, cropped_v] = get_yuv_buf(s->cropped_buf, crop_rect.w, crop_rect.h);
if (!s->is_rhd) {
crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, cropped_y, cropped_u, cropped_v, crop_rect);
} else {
auto [mirror_y, mirror_u, mirror_v] = get_yuv_buf(s->premirror_cropped_buf, crop_rect.w, crop_rect.h);
crop_nv12_to_yuv((uint8_t *)stream_buf, stride, uv_offset, mirror_y, mirror_u, mirror_v, crop_rect);
libyuv::I420Mirror(mirror_y, crop_rect.w,
mirror_u, crop_rect.w / 2,
mirror_v, crop_rect.w / 2,
cropped_y, crop_rect.w,
cropped_u, crop_rect.w / 2,
cropped_v, crop_rect.w / 2,
crop_rect.w, crop_rect.h);
}
// here makes a uint8 copy auto [resized_buf, resized_u, resized_v] = get_yuv_buf(s->resized_buf, resized_width, resized_height);
for (int r = 0; r < MODEL_HEIGHT; ++r) { uint8_t *resized_y = resized_buf;
memcpy(net_input_buf + r * MODEL_WIDTH, raw_y_start + r * stride + h_off, MODEL_WIDTH); libyuv::FilterMode mode = libyuv::FilterModeEnum::kFilterBilinear;
libyuv::I420Scale(cropped_y, crop_rect.w,
cropped_u, crop_rect.w / 2,
cropped_v, crop_rect.w / 2,
crop_rect.w, crop_rect.h,
resized_y, resized_width,
resized_u, resized_width / 2,
resized_v, resized_width / 2,
resized_width, resized_height,
mode);
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
float *net_input_buf = get_buffer(s->net_input_buf, yuv_buf_len);
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
// Y_ul
net_input_buf[(r*MODEL_WIDTH/2) + c + (0*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c]];
// Y_dl
net_input_buf[(r*MODEL_WIDTH/2) + c + (1*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c]];
// Y_ur
net_input_buf[(r*MODEL_WIDTH/2) + c + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r)*resized_width + 2*c+1]];
// Y_dr
net_input_buf[(r*MODEL_WIDTH/2) + c + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_y[(2*r+1)*resized_width + 2*c+1]];
// U
net_input_buf[(r*MODEL_WIDTH/2) + c + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_u[r*resized_width/2 + c]];
// V
net_input_buf[(r*MODEL_WIDTH/2) + c + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = s->tensor[resized_v[r*resized_width/2 + c]];
}
} }
// printf("preprocess completed. %d \n", yuv_buf_len); //printf("preprocess completed. %d \n", yuv_buf_len);
// FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb"); //FILE *dump_yuv_file = fopen("/tmp/rawdump.yuv", "wb");
// fwrite(net_input_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file); //fwrite(resized_buf, yuv_buf_len, sizeof(uint8_t), dump_yuv_file);
// fclose(dump_yuv_file); //fclose(dump_yuv_file);
// *** testing ***
// idat = np.frombuffer(open("/tmp/inputdump.yuv", "rb").read(), np.float32).reshape(6, 160, 320)
// imshow(cv2.cvtColor(tensor_to_frames(idat[None]/0.0078125+128)[0], cv2.COLOR_YUV2RGB_I420))
//FILE *dump_yuv_file2 = fopen("/tmp/inputdump.yuv", "wb");
//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
//fclose(dump_yuv_file2);
double t1 = millis_since_boot(); double t1 = millis_since_boot();
s->m->addImage((float*)net_input_buf, yuv_buf_len / 4); s->m->addImage(net_input_buf, yuv_buf_len);
for (int i = 0; i < CALIB_LEN; i++) { for (int i = 0; i < CALIB_LEN; i++) {
s->calib[i] = calib[i]; s->calib[i] = calib[i];
} }
s->m->execute(); s->m->execute();
double t2 = millis_since_boot(); double t2 = millis_since_boot();
DMonitoringModelResult model_res = {0}; DMonitoringResult ret = {0};
parse_driver_data(model_res.driver_state_lhd, s, 0); for (int i = 0; i < 3; ++i) {
parse_driver_data(model_res.driver_state_rhd, s, 41); ret.face_orientation[i] = s->output[i] * REG_SCALE;
model_res.poor_vision_prob = sigmoid(s->output[82]); ret.face_orientation_meta[i] = exp(s->output[6 + i]);
model_res.wheel_on_right_prob = sigmoid(s->output[83]); }
model_res.dsp_execution_time = (t2 - t1) / 1000.; for (int i = 0; i < 2; ++i) {
ret.face_position[i] = s->output[3 + i] * REG_SCALE;
return model_res; ret.face_position_meta[i] = exp(s->output[9 + i]);
}
for (int i = 0; i < 4; ++i) {
ret.ready_prob[i] = sigmoid(s->output[39 + i]);
}
for (int i = 0; i < 2; ++i) {
ret.not_ready_prob[i] = sigmoid(s->output[43 + i]);
}
ret.face_prob = sigmoid(s->output[12]);
ret.left_eye_prob = sigmoid(s->output[21]);
ret.right_eye_prob = sigmoid(s->output[30]);
ret.left_blink_prob = sigmoid(s->output[31]);
ret.right_blink_prob = sigmoid(s->output[32]);
ret.sg_prob = sigmoid(s->output[33]);
ret.poor_vision = sigmoid(s->output[34]);
ret.partial_face = sigmoid(s->output[35]);
ret.distracted_pose = sigmoid(s->output[36]);
ret.distracted_eyes = sigmoid(s->output[37]);
ret.occluded_prob = sigmoid(s->output[38]);
ret.dsp_execution_time = (t2 - t1) / 1000.;
return ret;
} }
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred) { void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
// make msg // make msg
MessageBuilder msg; MessageBuilder msg;
auto framed = msg.initEvent().initDriverStateV2(); auto framed = msg.initEvent().initDriverState();
framed.setFrameId(frame_id); framed.setFrameId(frame_id);
framed.setModelExecutionTime(execution_time); framed.setModelExecutionTime(execution_time);
framed.setDspExecutionTime(model_res.dsp_execution_time); framed.setDspExecutionTime(res.dsp_execution_time);
framed.setPoorVisionProb(model_res.poor_vision_prob); framed.setFaceOrientation(res.face_orientation);
framed.setWheelOnRightProb(model_res.wheel_on_right_prob); framed.setFaceOrientationStd(res.face_orientation_meta);
fill_driver_data(framed.initLeftDriverData(), model_res.driver_state_lhd); framed.setFacePosition(res.face_position);
fill_driver_data(framed.initRightDriverData(), model_res.driver_state_rhd); framed.setFacePositionStd(res.face_position_meta);
framed.setFaceProb(res.face_prob);
framed.setLeftEyeProb(res.left_eye_prob);
framed.setRightEyeProb(res.right_eye_prob);
framed.setLeftBlinkProb(res.left_blink_prob);
framed.setRightBlinkProb(res.right_blink_prob);
framed.setSunglassesProb(res.sg_prob);
framed.setPoorVision(res.poor_vision);
framed.setPartialFace(res.partial_face);
framed.setDistractedPose(res.distracted_pose);
framed.setDistractedEyes(res.distracted_eyes);
framed.setOccludedProb(res.occluded_prob);
framed.setReadyProb(res.ready_prob);
framed.setNotReadyProb(res.not_ready_prob);
if (send_raw_pred) { if (send_raw_pred) {
framed.setRawPredictions(raw_pred.asBytes()); framed.setRawPredictions(raw_pred.asBytes());
} }
pm.send("driverStateV2", msg); pm.send("driverState", msg);
} }
void dmonitoring_free(DMonitoringModelState* s) { void dmonitoring_free(DMonitoringModelState* s) {

33
selfdrive/modeld/models/dmonitoring.h
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@ -9,43 +9,44 @@
#define CALIB_LEN 3 #define CALIB_LEN 3
#define OUTPUT_SIZE 84 #define OUTPUT_SIZE 45
#define REG_SCALE 0.25f #define REG_SCALE 0.25f
typedef struct DriverStateResult { typedef struct DMonitoringResult {
float face_orientation[3]; float face_orientation[3];
float face_orientation_std[3]; float face_orientation_meta[3];
float face_position[2]; float face_position[2];
float face_position_std[2]; float face_position_meta[2];
float face_prob; float face_prob;
float left_eye_prob; float left_eye_prob;
float right_eye_prob; float right_eye_prob;
float left_blink_prob; float left_blink_prob;
float right_blink_prob; float right_blink_prob;
float sunglasses_prob; float sg_prob;
float poor_vision;
float partial_face;
float distracted_pose;
float distracted_eyes;
float occluded_prob; float occluded_prob;
float ready_prob[4]; float ready_prob[4];
float not_ready_prob[2]; float not_ready_prob[2];
} DriverStateResult;
typedef struct DMonitoringModelResult {
DriverStateResult driver_state_lhd;
DriverStateResult driver_state_rhd;
float poor_vision_prob;
float wheel_on_right_prob;
float dsp_execution_time; float dsp_execution_time;
} DMonitoringModelResult; } DMonitoringResult;
typedef struct DMonitoringModelState { typedef struct DMonitoringModelState {
RunModel *m; RunModel *m;
bool is_rhd; bool is_rhd;
float output[OUTPUT_SIZE]; float output[OUTPUT_SIZE];
std::vector<uint8_t> net_input_buf; std::vector<uint8_t> resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;
float calib[CALIB_LEN]; float calib[CALIB_LEN];
float tensor[UINT8_MAX + 1];
} DMonitoringModelState; } DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s); void dmonitoring_init(DMonitoringModelState* s);
DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib); DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, int stride, int uv_offset, float *calib);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringModelResult &model_res, float execution_time, kj::ArrayPtr<const float> raw_pred); void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
void dmonitoring_free(DMonitoringModelState* s); void dmonitoring_free(DMonitoringModelState* s);

4
selfdrive/modeld/models/dmonitoring_model.current
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@ -1,2 +1,2 @@
5b02cff5-2b29-431d-b186-372e9c6fd0c7 a8236e30-5bee-4689-8ea0-fc102e2770e5
bf33cc569076984626ac7e027f927aa593261fa7 d508c79bae1c1c451f3af3e2bc231ce33678cb43

4
selfdrive/modeld/models/dmonitoring_model.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:aca1dd411b5f488bea605dc360656e631fc4301968a589ea072e2220c8092600 oid sha256:00731ebd06fcff7e5837607b91bc56cad3bed5d7ee89052c911c981e8f665308
size 9157561 size 3679940

4
selfdrive/modeld/models/dmonitoring_model_q.dlc
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:d146b1d1fd9d40d57d058e51d285f83676866e26d9e5aff9fa27623ce343b58a oid sha256:667df5e925570a0f6a33dfb890e186a1f13f101885b46db47ec45305737dffb6
size 2636941 size 1145921

21
selfdrive/modeld/runners/onnx_runner.py
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@ -9,24 +9,20 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
import onnxruntime as ort # pylint: disable=import-error import onnxruntime as ort # pylint: disable=import-error
def read(sz, tf8=False): def read(sz):
dd = [] dd = []
gt = 0 gt = 0
szof = 1 if tf8 else 4 while gt < sz * 4:
while gt < sz * szof: st = os.read(0, sz * 4 - gt)
st = os.read(0, sz * szof - gt)
assert(len(st) > 0) assert(len(st) > 0)
dd.append(st) dd.append(st)
gt += len(st) gt += len(st)
r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) return np.frombuffer(b''.join(dd), dtype=np.float32)
if tf8:
r = r / 255.
return r
def write(d): def write(d):
os.write(1, d.tobytes()) os.write(1, d.tobytes())
def run_loop(m, tf8_input=False): def run_loop(m):
ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()]
keys = [x.name for x in m.get_inputs()] keys = [x.name for x in m.get_inputs()]
@ -37,10 +33,10 @@ def run_loop(m, tf8_input=False):
print("ready to run onnx model", keys, ishapes, file=sys.stderr) print("ready to run onnx model", keys, ishapes, file=sys.stderr)
while 1: while 1:
inputs = [] inputs = []
for k, shp in zip(keys, ishapes): for shp in ishapes:
ts = np.product(shp) ts = np.product(shp)
#print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) inputs.append(read(ts).reshape(shp))
ret = m.run(None, dict(zip(keys, inputs))) ret = m.run(None, dict(zip(keys, inputs)))
#print(ret, file=sys.stderr) #print(ret, file=sys.stderr)
for r in ret: for r in ret:
@ -48,7 +44,6 @@ def run_loop(m, tf8_input=False):
if __name__ == "__main__": if __name__ == "__main__":
print(sys.argv, file=sys.stderr)
print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
options = ort.SessionOptions() options = ort.SessionOptions()
options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
@ -68,6 +63,6 @@ if __name__ == "__main__":
print("Onnx selected provider: ", [provider], file=sys.stderr) print("Onnx selected provider: ", [provider], file=sys.stderr)
ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider])
print("Onnx using ", ort_session.get_providers(), file=sys.stderr) print("Onnx using ", ort_session.get_providers(), file=sys.stderr)
run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) run_loop(ort_session)
except KeyboardInterrupt: except KeyboardInterrupt:
pass pass

6
selfdrive/modeld/runners/onnxmodel.cc
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@ -14,13 +14,12 @@
#include "common/swaglog.h" #include "common/swaglog.h"
#include "common/util.h" #include "common/util.h"
ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) { ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) {
LOGD("loading model %s", path); LOGD("loading model %s", path);
output = _output; output = _output;
output_size = _output_size; output_size = _output_size;
use_extra = _use_extra; use_extra = _use_extra;
use_tf8 = _use_tf8;
int err = pipe(pipein); int err = pipe(pipein);
assert(err == 0); assert(err == 0);
@ -29,12 +28,11 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe"));
std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; std::string onnx_runner = exe_dir + "/runners/onnx_runner.py";
std::string tf8_arg = use_tf8 ? "--use_tf8" : "";
proc_pid = fork(); proc_pid = fork();
if (proc_pid == 0) { if (proc_pid == 0) {
LOGD("spawning onnx process %s", onnx_runner.c_str()); LOGD("spawning onnx process %s", onnx_runner.c_str());
char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
dup2(pipein[0], 0); dup2(pipein[0], 0);
dup2(pipeout[1], 1); dup2(pipeout[1], 1);
close(pipein[0]); close(pipein[0]);

3
selfdrive/modeld/runners/onnxmodel.h
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@ -6,7 +6,7 @@
class ONNXModel : public RunModel { class ONNXModel : public RunModel {
public: public:
ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false); ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false);
~ONNXModel(); ~ONNXModel();
void addRecurrent(float *state, int state_size); void addRecurrent(float *state, int state_size);
void addDesire(float *state, int state_size); void addDesire(float *state, int state_size);
@ -31,7 +31,6 @@ private:
int calib_size; int calib_size;
float *image_input_buf = NULL; float *image_input_buf = NULL;
int image_buf_size; int image_buf_size;
bool use_tf8;
float *extra_input_buf = NULL; float *extra_input_buf = NULL;
int extra_buf_size; int extra_buf_size;
bool use_extra; bool use_extra;

12
selfdrive/modeld/runners/snpemodel.cc
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@ -14,11 +14,10 @@ void PrintErrorStringAndExit() {
std::exit(EXIT_FAILURE); std::exit(EXIT_FAILURE);
} }
SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) { SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
output = loutput; output = loutput;
output_size = loutput_size; output_size = loutput_size;
use_extra = luse_extra; use_extra = luse_extra;
use_tf8 = luse_tf8;
#ifdef QCOM2 #ifdef QCOM2
if (runtime==USE_GPU_RUNTIME) { if (runtime==USE_GPU_RUNTIME) {
Runtime = zdl::DlSystem::Runtime_t::GPU; Runtime = zdl::DlSystem::Runtime_t::GPU;
@ -71,16 +70,14 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
printf("model: %s -> %s\n", input_tensor_name, output_tensor_name); printf("model: %s -> %s\n", input_tensor_name, output_tensor_name);
zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat; zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1
zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float);
// create input buffer // create input buffer
{ {
const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name); const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name);
const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt; const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt;
std::vector<size_t> strides(bufferShape.rank()); std::vector<size_t> strides(bufferShape.rank());
strides[strides.size() - 1] = size_of_input; strides[strides.size() - 1] = sizeof(float);
size_t product = 1; size_t product = 1;
for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i]; for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
size_t stride = strides[strides.size() - 1]; size_t stride = strides[strides.size() - 1];
@ -89,10 +86,7 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
strides[i-1] = stride; strides[i-1] = stride;
} }
printf("input product is %lu\n", product); printf("input product is %lu\n", product);
inputBuffer = ubFactory.createUserBuffer(NULL, inputBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
product*size_of_input,
strides,
use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat);
inputMap.add(input_tensor_name, inputBuffer.get()); inputMap.add(input_tensor_name, inputBuffer.get());
} }

3
selfdrive/modeld/runners/snpemodel.h
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@ -23,7 +23,7 @@
class SNPEModel : public RunModel { class SNPEModel : public RunModel {
public: public:
SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false); SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false);
void addRecurrent(float *state, int state_size); void addRecurrent(float *state, int state_size);
void addTrafficConvention(float *state, int state_size); void addTrafficConvention(float *state, int state_size);
void addCalib(float *state, int state_size); void addCalib(float *state, int state_size);
@ -52,7 +52,6 @@ private:
std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer; std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
float *input; float *input;
size_t input_size; size_t input_size;
bool use_tf8;
// snpe output stuff // snpe output stuff
zdl::DlSystem::UserBufferMap outputMap; zdl::DlSystem::UserBufferMap outputMap;

7
selfdrive/monitoring/dmonitoringd.py
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@ -18,7 +18,7 @@ def dmonitoringd_thread(sm=None, pm=None):
pm = messaging.PubMaster(['driverMonitoringState']) pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None: if sm is None:
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
@ -34,7 +34,7 @@ def dmonitoringd_thread(sm=None, pm=None):
while True: while True:
sm.update() sm.update()
if not sm.updated['driverStateV2']: if not sm.updated['driverState']:
continue continue
# Get interaction # Get interaction
@ -51,7 +51,7 @@ def dmonitoringd_thread(sm=None, pm=None):
# Get data from dmonitoringmodeld # Get data from dmonitoringmodeld
events = Events() events = Events()
driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled) driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
# Block engaging after max number of distrations # Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \ if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@ -79,7 +79,6 @@ def dmonitoringd_thread(sm=None, pm=None):
"isLowStd": driver_status.pose.low_std, "isLowStd": driver_status.pose.low_std,
"hiStdCount": driver_status.hi_stds, "hiStdCount": driver_status.hi_stds,
"isActiveMode": driver_status.active_monitoring_mode, "isActiveMode": driver_status.active_monitoring_mode,
"isRHD": driver_status.wheel_on_right,
} }
pm.send('driverMonitoringState', dat) pm.send('driverMonitoringState', dat)

90
selfdrive/monitoring/driver_monitor.py
Unescape View File

@ -5,7 +5,6 @@ from common.numpy_fast import interp
from common.realtime import DT_DMON from common.realtime import DT_DMON
from common.filter_simple import FirstOrderFilter from common.filter_simple import FirstOrderFilter
from common.stat_live import RunningStatFilter from common.stat_live import RunningStatFilter
from common.transformations.camera import tici_d_frame_size
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
@ -27,29 +26,32 @@ class DRIVER_MONITOR_SETTINGS():
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6. self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
self._FACE_THRESHOLD = 0.5 self._FACE_THRESHOLD = 0.5
self._PARTIAL_FACE_THRESHOLD = 0.8
self._EYE_THRESHOLD = 0.65 self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.925 self._SG_THRESHOLD = 0.925
self._BLINK_THRESHOLD = 0.861 self._BLINK_THRESHOLD = 0.8
self._BLINK_THRESHOLD_SLACK = 0.9
self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
self._EE_THRESH11 = 0.75 self._EE_THRESH11 = 0.75
self._EE_THRESH12 = 3.25 self._EE_THRESH12 = 3.25
self._EE_THRESH21 = 0.01 self._EE_THRESH21 = 0.01
self._EE_THRESH22 = 0.35 self._EE_THRESH22 = 0.35
self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD = 0.3237
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 self._POSE_PITCH_THRESHOLD_SLACK = 0.3657
self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
self._POSE_YAW_THRESHOLD = 0.4020 self._POSE_YAW_THRESHOLD = 0.3109
self._POSE_YAW_THRESHOLD_SLACK = 0.5042 self._POSE_YAW_THRESHOLD_SLACK = 0.4294
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned
self._PITCH_MAX_OFFSET = 0.124 self._PITCH_MAX_OFFSET = 0.124
self._PITCH_MIN_OFFSET = -0.0881 self._PITCH_MIN_OFFSET = -0.0881
self._YAW_MAX_OFFSET = 0.289 self._YAW_MAX_OFFSET = 0.289
self._YAW_MIN_OFFSET = -0.0246 self._YAW_MIN_OFFSET = -0.0246
self._POSESTD_THRESHOLD = 0.3 self._POSESTD_THRESHOLD = 0.315
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
@ -57,9 +59,6 @@ class DRIVER_MONITOR_SETTINGS():
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
self._WHEELPOS_THRESHOLD = 0.5
self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
@ -67,9 +66,9 @@ class DRIVER_MONITOR_SETTINGS():
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# model output refers to center of undistorted+leveled image # model output refers to center of cropped image, so need to apply the x displacement offset
EFL = 598.0 # focal length in K RESIZED_FOCAL = 320.0
W, H = tici_d_frame_size # corrected image has same size as raw H, W, FULL_W = 320, 160, 426
class DistractedType: class DistractedType:
NOT_DISTRACTED = 0 NOT_DISTRACTED = 0
@ -77,22 +76,22 @@ class DistractedType:
DISTRACTED_BLINK = 2 DISTRACTED_BLINK = 2
DISTRACTED_E2E = 4 DISTRACTED_E2E = 4
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib): def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
# the output of these angles are in device frame # the output of these angles are in device frame
# so from driver's perspective, pitch is up and yaw is right # so from driver's perspective, pitch is up and yaw is right
pitch_net, yaw_net, roll_net = angles_desc pitch_net, yaw_net, roll_net = angles_desc
face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H) face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL) yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL) pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
pitch = pitch_net + pitch_focal_angle pitch = pitch_net + pitch_focal_angle
yaw = -yaw_net + yaw_focal_angle yaw = -yaw_net + yaw_focal_angle
# no calib for roll # no calib for roll
pitch -= rpy_calib[1] pitch -= rpy_calib[1]
yaw -= rpy_calib[2] yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> +=
return roll_net, pitch, yaw return roll_net, pitch, yaw
class DriverPose(): class DriverPose():
@ -113,6 +112,7 @@ class DriverBlink():
def __init__(self): def __init__(self):
self.left_blink = 0. self.left_blink = 0.
self.right_blink = 0. self.right_blink = 0.
self.cfactor = 1.
class DriverStatus(): class DriverStatus():
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
@ -120,7 +120,7 @@ class DriverStatus():
self.settings = settings self.settings = settings
# init driver status # init driver status
# self.wheelpos_learner = RunningStatFilter() self.is_rhd_region = rhd
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT) self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False self.pose_calibrated = False
self.blink = DriverBlink() self.blink = DriverBlink()
@ -137,8 +137,8 @@ class DriverStatus():
self.distracted_types = [] self.distracted_types = []
self.driver_distracted = False self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
self.wheel_on_right = rhd
self.face_detected = False self.face_detected = False
self.face_partial = False
self.terminal_alert_cnt = 0 self.terminal_alert_cnt = 0
self.terminal_time = 0 self.terminal_time = 0
self.step_change = 0. self.step_change = 0.
@ -197,7 +197,7 @@ class DriverStatus():
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
distracted_types.append(DistractedType.DISTRACTED_POSE) distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD: if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor:
distracted_types.append(DistractedType.DISTRACTED_BLINK) distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated: if self.ee1_calibrated:
@ -214,7 +214,13 @@ class DriverStatus():
return distracted_types return distracted_types
def set_policy(self, model_data, car_speed): def set_policy(self, model_data, car_speed):
ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
# TODO: retune adaptive blink
self.blink.cfactor = interp(ep, [0, 0.5, 1],
[self.settings._BLINK_THRESHOLD_STRICT,
self.settings._BLINK_THRESHOLD,
self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2) k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
bp_normal = max(min(bp / k1, 0.5),0) bp_normal = max(min(bp / k1, 0.5),0)
self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5], self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
@ -225,36 +231,28 @@ class DriverStatus():
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
# rhd_pred = driver_state.wheelOnRightProb if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
# if car_speed > 0.01: driver_state.faceOrientationStd, driver_state.facePositionStd,
# self.wheelpos_learner.push_and_update(rhd_pred) driver_state.readyProb, driver_state.notReadyProb)):
# if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
# self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
# else:
# self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
driver_data.faceOrientationStd, driver_data.facePositionStd,
driver_data.readyProb, driver_data.notReadyProb)):
return return
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
if self.wheel_on_right: self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
self.pose.yaw *= -1 self.pose.pitch_std = driver_state.faceOrientationStd[0]
self.pose.pitch_std = driver_data.faceOrientationStd[0] self.pose.yaw_std = driver_state.faceOrientationStd[1]
self.pose.yaw_std = driver_data.faceOrientationStd[1] # self.pose.roll_std = driver_state.faceOrientationStd[2]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[1] self.eev1 = driver_state.notReadyProb[1]
self.eev2 = driver_data.readyProb[0] self.eev2 = driver_state.readyProb[0]
self.distracted_types = self._get_distracted_types() self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted) self.driver_distraction_filter.update(self.driver_distracted)
# update offseter # update offseter

24
selfdrive/monitoring/test_monitoring.py
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@ -17,19 +17,19 @@ INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENE
INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1
def make_msg(face_detected, distracted=False, model_uncertain=False): def make_msg(face_detected, distracted=False, model_uncertain=False):
ds = log.DriverStateV2.new_message() ds = log.DriverState.new_message()
ds.leftDriverData.faceOrientation = [0., 0., 0.] ds.faceOrientation = [0., 0., 0.]
ds.leftDriverData.facePosition = [0., 0.] ds.facePosition = [0., 0.]
ds.leftDriverData.faceProb = 1. * face_detected ds.faceProb = 1. * face_detected
ds.leftDriverData.leftEyeProb = 1. ds.leftEyeProb = 1.
ds.leftDriverData.rightEyeProb = 1. ds.rightEyeProb = 1.
ds.leftDriverData.leftBlinkProb = 1. * distracted ds.leftBlinkProb = 1. * distracted
ds.leftDriverData.rightBlinkProb = 1. * distracted ds.rightBlinkProb = 1. * distracted
ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] ds.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain]
ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] ds.facePositionStd = [1.*model_uncertain, 1.*model_uncertain]
# TODO: test both separately when e2e is used # TODO: test both separately when e2e is used
ds.leftDriverData.readyProb = [0., 0., 0., 0.] ds.readyProb = [0., 0., 0., 0.]
ds.leftDriverData.notReadyProb = [0., 0.] ds.notReadyProb = [0., 0.]
return ds return ds

8
selfdrive/test/process_replay/model_replay.py
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@ -52,7 +52,7 @@ def model_replay(lr, frs):
vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size)) vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
vipc_server.start_listener() vipc_server.start_listener()
sm = messaging.SubMaster(['modelV2', 'driverStateV2']) sm = messaging.SubMaster(['modelV2', 'driverState'])
pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan']) pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
try: try:
@ -112,7 +112,7 @@ def model_replay(lr, frs):
if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']: if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
recv = "modelV2" recv = "modelV2"
elif msg.which() == 'driverCameraState': elif msg.which() == 'driverCameraState':
recv = "driverStateV2" recv = "driverState"
# wait for a response # wait for a response
with Timeout(15, f"timed out waiting for {recv}"): with Timeout(15, f"timed out waiting for {recv}"):
@ -170,8 +170,8 @@ if __name__ == "__main__":
'logMonoTime', 'logMonoTime',
'modelV2.frameDropPerc', 'modelV2.frameDropPerc',
'modelV2.modelExecutionTime', 'modelV2.modelExecutionTime',
'driverStateV2.modelExecutionTime', 'driverState.modelExecutionTime',
'driverStateV2.dspExecutionTime' 'driverState.dspExecutionTime'
] ]
# TODO this tolerence is absurdly large # TODO this tolerence is absurdly large
tolerance = 5e-1 if PC else None tolerance = 5e-1 if PC else None

2
selfdrive/test/process_replay/model_replay_ref_commit
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@ -1 +1 @@
1d0979ca59dbc89bc5890656e9501e83f0556d50 f74ab97371be93fdc28333e5ea12bbb78c3a32d0

2
selfdrive/test/process_replay/process_replay.py
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@ -293,7 +293,7 @@ CONFIGS = [
ProcessConfig( ProcessConfig(
proc_name="dmonitoringd", proc_name="dmonitoringd",
pub_sub={ pub_sub={
"driverStateV2": ["driverMonitoringState"], "driverState": ["driverMonitoringState"],
"liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [], "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
}, },
ignore=["logMonoTime", "valid"], ignore=["logMonoTime", "valid"],

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
f301bdf52b271c8c4ef0f2bce3be9c8f90037652 935abbc21282e10572c9324382feba3fee2fe379

6
selfdrive/test/test_onroad.py
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@ -33,7 +33,7 @@ PROCS = {
"selfdrive.controls.radard": 4.5, "selfdrive.controls.radard": 4.5,
"./_modeld": 4.48, "./_modeld": 4.48,
"./boardd": 3.63, "./boardd": 3.63,
"./_dmonitoringmodeld": 5.0, "./_dmonitoringmodeld": 10.0,
"selfdrive.thermald.thermald": 3.87, "selfdrive.thermald.thermald": 3.87,
"selfdrive.locationd.calibrationd": 2.0, "selfdrive.locationd.calibrationd": 2.0,
"./_soundd": 1.0, "./_soundd": 1.0,
@ -60,7 +60,7 @@ TIMINGS = {
"roadCameraState": [2.5, 0.35], "roadCameraState": [2.5, 0.35],
"driverCameraState": [2.5, 0.35], "driverCameraState": [2.5, 0.35],
"modelV2": [2.5, 0.35], "modelV2": [2.5, 0.35],
"driverStateV2": [2.5, 0.40], "driverState": [2.5, 0.40],
"liveLocationKalman": [2.5, 0.35], "liveLocationKalman": [2.5, 0.35],
"wideRoadCameraState": [1.5, 0.35], "wideRoadCameraState": [1.5, 0.35],
} }
@ -221,7 +221,7 @@ class TestOnroad(unittest.TestCase):
# TODO: this went up when plannerd cpu usage increased, why? # TODO: this went up when plannerd cpu usage increased, why?
cfgs = [ cfgs = [
("modelV2", 0.050, 0.036), ("modelV2", 0.050, 0.036),
("driverStateV2", 0.050, 0.026), ("driverState", 0.050, 0.026),
] ]
for (s, instant_max, avg_max) in cfgs: for (s, instant_max, avg_max) in cfgs:
ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s]

43
selfdrive/ui/qt/offroad/driverview.cc
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@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
emit done(); emit done();
} }
DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) { DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
} }
@ -57,36 +57,43 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
return; return;
} }
cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); const int width = 4 * height() / 3;
cereal::DriverStateV2::DriverData::Reader driver_data; const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
// is_rhd = driver_state.getWheelOnRightProb() > 0.5; // blackout
driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); const QColor bg(0, 0, 0, 140);
const QRect& blackout_rect = rect();
p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
bool face_detected = driver_data.getFaceProb() > 0.5; // face bounding box
cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
bool face_detected = driver_state.getFaceProb() > 0.5;
if (face_detected) { if (face_detected) {
auto fxy_list = driver_data.getFacePosition(); auto fxy_list = driver_state.getFacePosition();
auto std_list = driver_data.getFaceOrientationStd(); auto std_list = driver_state.getFaceOrientationStd();
float face_x = fxy_list[0]; float face_x = fxy_list[0];
float face_y = fxy_list[1]; float face_y = fxy_list[1];
float face_std = std::max(std_list[0], std_list[1]); float face_std = std::max(std_list[0], std_list[1]);
float alpha = 0.7; float alpha = 0.7;
if (face_std > 0.15) { if (face_std > 0.08) {
alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0); alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
} }
const int box_size = 220; const int box_size = 0.6 * rect2.height() / 2;
// use approx instead of distort_points const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
int fbox_x = 1080.0 - 1714.0 * face_x; int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y; int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10)); p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0); p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
} }
// icon // icon
const int img_offset = 60; const int img_offset = 30;
const int img_x = rect().left() + img_offset; const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
p.setOpacity(face_detected ? 1.0 : 0.2); p.setOpacity(face_detected ? 1.0 : 0.3);
p.drawPixmap(img_x, img_y, face_img); p.drawPixmap(img_x, img_y, face_img);
} }

9
selfdrive/ui/qt/widgets/cameraview.cc
Unescape View File

@ -54,15 +54,16 @@ const mat4 device_transform = {{
}}; }};
mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
const float driver_view_ratio = 2.0; const float driver_view_ratio = 1.333;
const float yscale = stream_height * driver_view_ratio / stream_width; const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
mat4 transform = (mat4){{ mat4 transform = (mat4){{
xscale, 0.0, 0.0, 0.0, xscale, 0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
0.0, yscale, 0.0, 0.0, 0.0, yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
}}; }};
return transform; return transform;
} }

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