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Merge remote-tracking branch 'upstream/master' into replace-pycurl

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pull/30771/head
royjr 2 years ago
parent 49293d12f4 7f9e41ce2e
commit 7a4c368745
13 changed files with 352 additions and 425 deletions
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  1. 34
      .github/workflows/auto_pr_review.yaml
  2. 18
      .github/workflows/labeler.yaml
  3. 41
      common/file_helpers.py
  4. 139
      poetry.lock
  5. 26
      pyproject.toml
  6. 4
      release/files_common
  7. 20
      selfdrive/car/interfaces.py
  8. 76
      selfdrive/car/torque_data/override.toml
  9. 76
      selfdrive/car/torque_data/override.yaml
  10. 88
      selfdrive/car/torque_data/params.toml
  11. 88
      selfdrive/car/torque_data/params.yaml
  12. 84
      selfdrive/car/torque_data/substitute.toml
  13. 83
      selfdrive/car/torque_data/substitute.yaml

34
.github/workflows/auto_pr_review.yaml
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@ -0,0 +1,34 @@
name: "PR review"
on:
pull_request_target:
jobs:
labeler:
name: apply labels
permissions:
contents: read
pull-requests: write
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: false
- uses: actions/labeler@v5.0.0-alpha.1
with:
dot: true
configuration-path: .github/labeler.yaml
pr_branch_check:
name: check branch
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
with:
target: /^(?!master$).*/
exclude: /commaai:.*/
change-to: ${{ github.base_ref }}
already-exists-action: close_this
already-exists-comment: "Your PR should be made against the `master` branch"

18
.github/workflows/labeler.yaml
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@ -1,18 +0,0 @@
name: "Pull Request Labeler"
on:
pull_request_target:
jobs:
labeler:
permissions:
contents: read
pull-requests: write
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: false
- uses: actions/labeler@v5.0.0-alpha.1
with:
dot: true
configuration-path: .github/labeler.yaml

41
common/file_helpers.py
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@ -1,7 +1,8 @@
import os
import shutil
import tempfile
from atomicwrites import AtomicWriter
import contextlib
from typing import Optional
def rm_not_exists_ok(path):
@ -71,19 +72,25 @@ def _get_fileobject_func(writer, temp_dir):
return writer.get_fileobject(dir=temp_dir)
return _get_fileobject
def atomic_write_on_fs_tmp(path, **kwargs):
"""Creates an atomic writer using a temporary file in a temporary directory
on the same filesystem as path.
"""
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
# directory.
writer = AtomicWriter(path, **kwargs)
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
def atomic_write_in_dir(path, **kwargs):
"""Creates an atomic writer using a temporary file in the same directory
as the destination file.
"""
writer = AtomicWriter(path, **kwargs)
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
@contextlib.contextmanager
def atomic_write_on_fs_tmp(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None):
"""Write to a file atomically using a temporary file in a temporary directory on the same filesystem as path."""
temp_dir = get_tmpdir_on_same_filesystem(path)
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=temp_dir, delete=False) as tmp_file:
yield tmp_file
tmp_file_name = tmp_file.name
os.replace(tmp_file_name, path)
@contextlib.contextmanager
def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: Optional[str] = None, newline: Optional[str] = None,
overwrite: bool = False):
"""Write to a file atomically using a temporary file in the same directory as the destination file."""
dir_name = os.path.dirname(path)
if not overwrite and os.path.exists(path):
raise FileExistsError(f"File '{path}' already exists. To overwrite it, set 'overwrite' to True.")
with tempfile.NamedTemporaryFile(mode=mode, buffering=buffering, encoding=encoding, newline=newline, dir=dir_name, delete=False) as tmp_file:
yield tmp_file
tmp_file_name = tmp_file.name
os.replace(tmp_file_name, path)

139
poetry.lock generated
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@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
[[package]]
name = "aiohttp"
@ -180,16 +180,6 @@ files = [
{file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
]
[[package]]
name = "atomicwrites"
version = "1.4.1"
description = "Atomic file writes."
optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
files = [
{file = "atomicwrites-1.4.1.tar.gz", hash = "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"},
]
[[package]]
name = "attrs"
version = "23.1.0"
@ -2067,6 +2057,16 @@ files = [
{file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
{file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
{file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
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{file = "MarkupSafe-2.1.3-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:aa57bd9cf8ae831a362185ee444e15a93ecb2e344c8e52e4d721ea3ab6ef1823"},
{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ffcc3f7c66b5f5b7931a5aa68fc9cecc51e685ef90282f4a82f0f5e9b704ad11"},
{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47d4f1c5f80fc62fdd7777d0d40a2e9dda0a05883ab11374334f6c4de38adffd"},
{file = "MarkupSafe-2.1.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1f67c7038d560d92149c060157d623c542173016c4babc0c1913cca0564b9939"},
{file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:9aad3c1755095ce347e26488214ef77e0485a3c34a50c5a5e2471dff60b9dd9c"},
{file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:14ff806850827afd6b07a5f32bd917fb7f45b046ba40c57abdb636674a8b559c"},
{file = "MarkupSafe-2.1.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8f9293864fe09b8149f0cc42ce56e3f0e54de883a9de90cd427f191c346eb2e1"},
{file = "MarkupSafe-2.1.3-cp312-cp312-win32.whl", hash = "sha256:715d3562f79d540f251b99ebd6d8baa547118974341db04f5ad06d5ea3eb8007"},
{file = "MarkupSafe-2.1.3-cp312-cp312-win_amd64.whl", hash = "sha256:1b8dd8c3fd14349433c79fa8abeb573a55fc0fdd769133baac1f5e07abf54aeb"},
{file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
{file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
{file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
@ -2647,14 +2647,7 @@ files = [
]
[package.dependencies]
numpy = [
{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
]
numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
[[package]]
name = "opencv-python-headless"
@ -2673,14 +2666,7 @@ files = [
]
[package.dependencies]
numpy = [
{version = ">=1.21.2", markers = "python_version >= \"3.10\""},
{version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
{version = ">=1.23.5", markers = "python_version >= \"3.11\""},
{version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
{version = ">=1.17.0", markers = "python_version >= \"3.7\""},
{version = ">=1.17.3", markers = "python_version >= \"3.8\""},
]
numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
[[package]]
name = "packaging"
@ -2874,26 +2860,6 @@ sql-other = ["SQLAlchemy (>=1.4.36)"]
test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
xml = ["lxml (>=4.8.0)"]
[[package]]
name = "panflute"
version = "2.3.0"
description = "Pythonic Pandoc filters"
optional = false
python-versions = ">=3.6"
files = [
{file = "panflute-2.3.0-py3-none-any.whl", hash = "sha256:02673bcbdb521a805f08a2ca0ce864de86ad409ad406a01b3700fcf2aca81635"},
{file = "panflute-2.3.0.tar.gz", hash = "sha256:cefd9dfc48ccd9732a53db57610701d22806da397a8a97e5cc8dc070b55865ca"},
]
[package.dependencies]
click = ">=6,<9"
pyyaml = ">=3,<7"
[package.extras]
dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
extras = ["yamlloader (>=1,<2)"]
pypi = ["Pygments", "docutils", "twine", "wheel"]
[[package]]
name = "parameterized"
version = "0.8.1"
@ -3250,17 +3216,6 @@ files = [
{file = "pycurl-7.45.2.tar.gz", hash = "sha256:5730590be0271364a5bddd9e245c9cc0fb710c4cbacbdd95264a3122d23224ca"},
]
[[package]]
name = "pydub"
version = "0.25.1"
description = "Manipulate audio with an simple and easy high level interface"
optional = false
python-versions = "*"
files = [
{file = "pydub-0.25.1-py2.py3-none-any.whl", hash = "sha256:65617e33033874b59d87db603aa1ed450633288aefead953b30bded59cb599a6"},
{file = "pydub-0.25.1.tar.gz", hash = "sha256:980a33ce9949cab2a569606b65674d748ecbca4f0796887fd6f46173a7b0d30f"},
]
[[package]]
name = "pyee"
version = "11.1.0"
@ -3299,6 +3254,8 @@ files = [
{file = "pygame-2.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e24d05184e4195fe5ebcdce8b18ecb086f00182b9ae460a86682d312ce8d31f"},
{file = "pygame-2.5.2-cp311-cp311-win32.whl", hash = "sha256:f02c1c7505af18d426d355ac9872bd5c916b27f7b0fe224749930662bea47a50"},
{file = "pygame-2.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:6d58c8cf937815d3b7cdc0fa9590c5129cb2c9658b72d00e8a4568dea2ff1d42"},
{file = "pygame-2.5.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1a2a43802bb5e89ce2b3b775744e78db4f9a201bf8d059b946c61722840ceea8"},
{file = "pygame-2.5.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:1c289f2613c44fe70a1e40769de4a49c5ab5a29b9376f1692bb1a15c9c1c9bfa"},
{file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:074aa6c6e110c925f7f27f00c7733c6303407edc61d738882985091d1eb2ef17"},
{file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe0228501ec616779a0b9c4299e837877783e18df294dd690b9ab0eed3d8aaab"},
{file = "pygame-2.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31648d38ecdc2335ffc0e38fb18a84b3339730521505dac68514f83a1092e3f4"},
@ -3439,17 +3396,6 @@ files = [
[package.dependencies]
cffi = ">=1.0.0"
[[package]]
name = "pympler"
version = "1.0.1"
description = "A development tool to measure, monitor and analyze the memory behavior of Python objects."
optional = false
python-versions = ">=3.6"
files = [
{file = "Pympler-1.0.1-py3-none-any.whl", hash = "sha256:d260dda9ae781e1eab6ea15bacb84015849833ba5555f141d2d9b7b7473b307d"},
{file = "Pympler-1.0.1.tar.gz", hash = "sha256:993f1a3599ca3f4fcd7160c7545ad06310c9e12f70174ae7ae8d4e25f6c5d3fa"},
]
[[package]]
name = "pyopencl"
version = "2023.1.4"
@ -3859,6 +3805,7 @@ files = [
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@ -3866,8 +3813,15 @@ files = [
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{file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
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@ -3884,6 +3838,7 @@ files = [
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{file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
{file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
{file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@ -3891,6 +3846,7 @@ files = [
{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
{file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
{file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
{file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
{file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
{file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@ -4104,27 +4060,6 @@ files = [
[package.dependencies]
setuptools = "*"
[[package]]
name = "sconscontrib"
version = "1.0"
description = "Contributed builders and other useful logic for the SCons build system.,"
optional = false
python-versions = "<4,>=3.6"
files = []
develop = false
[package.dependencies]
docutils = "*"
panflute = "*"
SCons = ">=4"
sphinx = "*"
[package.source]
type = "git"
url = "https://github.com/SCons/scons-contrib.git"
reference = "HEAD"
resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
[[package]]
name = "seaborn"
version = "0.13.0"
@ -4720,17 +4655,6 @@ notebook = ["ipywidgets (>=6)"]
slack = ["slack-sdk"]
telegram = ["requests"]
[[package]]
name = "types-atomicwrites"
version = "1.4.5.1"
description = "Typing stubs for atomicwrites"
optional = false
python-versions = "*"
files = [
{file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
{file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
]
[[package]]
name = "types-pycurl"
version = "7.45.2.5"
@ -4742,17 +4666,6 @@ files = [
{file = "types_pycurl-7.45.2.5-py3-none-any.whl", hash = "sha256:e433f13a266245be770018eabc6a50139ea26150f75df5b0ee698d291575582b"},
]
[[package]]
name = "types-pyyaml"
version = "6.0.12.12"
description = "Typing stubs for PyYAML"
optional = false
python-versions = "*"
files = [
{file = "types-PyYAML-6.0.12.12.tar.gz", hash = "sha256:334373d392fde0fdf95af5c3f1661885fa10c52167b14593eb856289e1855062"},
{file = "types_PyYAML-6.0.12.12-py3-none-any.whl", hash = "sha256:c05bc6c158facb0676674b7f11fe3960db4f389718e19e62bd2b84d6205cfd24"},
]
[[package]]
name = "types-requests"
version = "2.31.0.10"
@ -4989,4 +4902,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "08910461234279f3339c1692bd0cc2732f6e17f61ca9e3ffa53d461526e3dce4"
content-hash = "eeb5efb6161eaec95fb863ddc9ec08afb540ed3cd5d521646a6a759ddf33ab2e"

26
pyproject.toml
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@ -75,18 +75,14 @@ documentation = "https://docs.comma.ai"
[tool.poetry.dependencies]
python = "~3.11"
atomicwrites = "*"
aiohttp = "*"
aiortc = "*"
casadi = "==3.6.3"
cffi = "*"
control = "*"
crcmod = "*"
cryptography = "*"
Cython = "*"
future-fstrings = "*" # for acados
hexdump = "*"
Jinja2 = "*"
json-rpc = "*"
libusb1 = "*"
numpy = "*"
@ -97,26 +93,25 @@ psutil = "*"
pyaudio = "*"
pycapnp = "*"
pycryptodome = "*"
pycurl = "*"
pydub = "*"
PyJWT = "*"
pyopencl = "*"
pyserial = "*"
PyYAML = "*"
pyzmq = "*"
requests = "*"
scons = "*"
sentry-sdk = "==1.28.1" # needs to be updated with AGNOS
setproctitle = "*"
smbus2 = "*"
sounddevice = "*"
spidev = { version = "*", platform = "linux" }
sympy = "*"
timezonefinder = "*"
tqdm = "*"
websocket_client = "*"
polyline = "*"
sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
# these should be removed
markdown-it-py = "*"
timezonefinder = "*"
pycurl = "*"
setproctitle = "*"
[tool.poetry.group.dev.dependencies]
@ -124,13 +119,14 @@ av = "*"
azure-identity = "*"
azure-storage-blob = "*"
breathe = "*"
control = "*"
coverage = "*"
dictdiffer = "*"
ft4222 = "*"
hypothesis = "~6.47"
inputs = "*"
Jinja2 = "*"
lru-dict = "*"
markdown-it-py = "*"
matplotlib = "*"
metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="72e842cd1d025bf676e4af8797a01e4aa282109f", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
mpld3 = "*"
@ -138,12 +134,10 @@ mypy = "*"
myst-parser = "*"
natsort = "*"
opencv-python-headless = "*"
pandas = "*"
parameterized = "^0.8"
pprofile = "*"
pre-commit = "*"
pygame = "*"
pympler = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-cov = "*"
@ -154,17 +148,15 @@ pytest-timeout = "*"
pytest-timeouts = "*"
pytest-randomly = "*"
ruff = "*"
scipy = "*"
sphinx = "*"
sphinx-rtd-theme = "*"
sphinx-sitemap = "*"
tabulate = "*"
tenacity = "*"
types-atomicwrites = "*"
types-pycurl = "*"
types-PyYAML = "*"
types-requests = "*"
types-tabulate = "*"
tqdm = "*"
# this is only pinned since 5.15.11 is broken
pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux

4
release/files_common
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@ -98,9 +98,7 @@ selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py
selfdrive/car/torque_data/params.yaml
selfdrive/car/torque_data/substitute.yaml
selfdrive/car/torque_data/override.yaml
selfdrive/car/torque_data/*.toml
selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py

20
selfdrive/car/interfaces.py
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@ -1,7 +1,7 @@
import yaml
import os
import time
import numpy as np
import tomllib
from abc import abstractmethod, ABC
from typing import Any, Dict, Optional, Tuple, List, Callable
@ -26,21 +26,21 @@ ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.3
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
def get_torque_params(candidate):
with open(TORQUE_SUBSTITUTE_PATH) as f:
sub = yaml.load(f, Loader=yaml.CSafeLoader)
with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
sub = tomllib.load(f)
if candidate in sub:
candidate = sub[candidate]
with open(TORQUE_PARAMS_PATH) as f:
params = yaml.load(f, Loader=yaml.CSafeLoader)
with open(TORQUE_OVERRIDE_PATH) as f:
override = yaml.load(f, Loader=yaml.CSafeLoader)
with open(TORQUE_PARAMS_PATH, 'rb') as f:
params = tomllib.load(f)
with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
override = tomllib.load(f)
# Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:

76
selfdrive/car/torque_data/override.toml
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@ -0,0 +1,76 @@
legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
### angle control
# Nissan appears to have torque
"NISSAN X-TRAIL 2017" = [nan, 1.5, nan]
"NISSAN ALTIMA 2020" = [nan, 1.5, nan]
"NISSAN LEAF 2018 Instrument Cluster" = [nan, 1.5, nan]
"NISSAN LEAF 2018" = [nan, 1.5, nan]
"NISSAN ROGUE 2019" = [nan, 1.5, nan]
# New subarus angle based controllers
"SUBARU FORESTER 2022" = [nan, 3.0, nan]
"SUBARU OUTBACK 7TH GEN" = [nan, 3.0, nan]
"SUBARU ASCENT 2023" = [nan, 3.0, nan]
# Toyota LTA also has torque
"TOYOTA RAV4 2023" = [nan, 3.0, nan]
# Tesla has high torque
"TESLA AP1 MODEL S" = [nan, 2.5, nan]
"TESLA AP2 MODEL S" = [nan, 2.5, nan]
# Guess
"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]
"FORD ESCAPE 4TH GEN" = [nan, 1.5, nan]
"FORD EXPLORER 6TH GEN" = [nan, 1.5, nan]
"FORD F-150 14TH GEN" = [nan, 1.5, nan]
"FORD FOCUS 4TH GEN" = [nan, 1.5, nan]
"FORD MAVERICK 1ST GEN" = [nan, 1.5, nan]
"FORD F-150 LIGHTNING 1ST GEN" = [nan, 1.5, nan]
"FORD MUSTANG MACH-E 1ST GEN" = [nan, 1.5, nan]
###
# No steering wheel
"COMMA BODY" = [nan, 1000, nan]
# Totally new cars
"RAM 1500 5TH GEN" = [2.0, 2.0, 0.05]
"RAM HD 5TH GEN" = [1.4, 1.4, 0.05]
"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05]
"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
"KIA SPORTAGE 5TH GEN" = [2.7, 2.7, 0.1]
"KIA SPORTAGE HYBRID 5TH GEN" = [2.5, 2.5, 0.1]
"GENESIS GV70 1ST GEN" = [2.42, 2.42, 0.1]
"KIA SORENTO PLUG-IN HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
"GENESIS GV60 ELECTRIC 1ST GEN" = [2.5, 2.5, 0.1]
"KIA SORENTO 4TH GEN" = [2.5, 2.5, 0.1]
"KIA NIRO HYBRID 2ND GEN" = [2.42, 2.5, 0.12]
"KIA NIRO EV 2ND GEN" = [2.05, 2.5, 0.14]
"GENESIS GV80 2023" = [2.5, 2.5, 0.1]
"KIA CARNIVAL 4TH GEN" = [1.75, 1.75, 0.15]
"GMC ACADIA DENALI 2018" = [1.6, 1.6, 0.2]
"LEXUS IS 2023" = [2.0, 2.0, 0.1]
"KIA SORENTO HYBRID 4TH GEN" = [2.5, 2.5, 0.1]
"HYUNDAI KONA ELECTRIC 2ND GEN" = [2.5, 2.5, 0.1]
"HYUNDAI IONIQ 6 2023" = [2.5, 2.5, 0.1]
"HYUNDAI AZERA 6TH GEN" = [1.8, 1.8, 0.1]
"HYUNDAI AZERA HYBRID 6TH GEN" = [1.8, 1.8, 0.1]
"KIA K8 HYBRID 1ST GEN" = [2.5, 2.5, 0.1]
"HYUNDAI CUSTIN 1ST GEN" = [2.5, 2.5, 0.1]
"LEXUS GS F 2016" = [2.5, 2.5, 0.08]
"HYUNDAI STARIA 4TH GEN" = [1.8, 2.0, 0.15]
# Dashcam or fallback configured as ideal car
"mock" = [10.0, 10, 0.0]
# Manually checked
"HONDA CIVIC 2022" = [2.5, 1.2, 0.15]
"HONDA HR-V 2023" = [2.5, 1.2, 0.2]

76
selfdrive/car/torque_data/override.yaml
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@ -1,76 +0,0 @@
legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
### angle control
# Nissan appears to have torque
NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# New subarus angle based controllers
SUBARU FORESTER 2022: [.nan, 3.0, .nan]
SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
SUBARU ASCENT 2023: [.nan, 3.0, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]
# Guess
FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
FORD F-150 14TH GEN: [.nan, 1.5, .nan]
FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
FORD F-150 LIGHTNING 1ST GEN: [.nan, 1.5, .nan]
FORD MUSTANG MACH-E 1ST GEN: [.nan, 1.5, .nan]
###
# No steering wheel
COMMA BODY: [.nan, 1000, .nan]
# Totally new cars
RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
RAM HD 5TH GEN: [1.4, 1.4, 0.05]
SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2]
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1]
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
GENESIS GV80 2023: [2.5, 2.5, 0.1]
KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
LEXUS IS 2023: [2.0, 2.0, 0.1]
KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1]
HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1]
HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
LEXUS GS F 2016: [2.5, 2.5, 0.08]
HYUNDAI STARIA 4TH GEN: [1.8, 2.0, 0.15]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
# Manually checked
HONDA CIVIC 2022: [2.5, 1.2, 0.15]
HONDA HR-V 2023: [2.5, 1.2, 0.2]

88
selfdrive/car/torque_data/params.toml
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@ -0,0 +1,88 @@
legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"ACURA ILX 2016" = [1.524988973896102, 0.519011053086259, 0.34236219253028]
"ACURA RDX 2018" = [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
"ACURA RDX 2020" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
"AUDI A3 3RD GEN" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
"AUDI Q3 2ND GEN" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
"CHEVROLET VOLT PREMIER 2017" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
"CHRYSLER PACIFICA 2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
"CHRYSLER PACIFICA 2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
"CHRYSLER PACIFICA HYBRID 2017" = [1.79422, 1.06831764583744, 0.116237]
"CHRYSLER PACIFICA HYBRID 2018" = [2.08887, 1.2943025830995154, 0.114818]
"CHRYSLER PACIFICA HYBRID 2019" = [1.90120, 1.1958788168371808, 0.131520]
"GENESIS G70 2018" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
"HONDA ACCORD 2018" = [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
"HONDA ACCORD HYBRID 2018" = [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
"HONDA CIVIC (BOSCH) 2019" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
"HONDA CIVIC 2016" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
"HONDA CR-V 2016" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
"HONDA CR-V 2017" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
"HONDA CR-V HYBRID 2019" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
"HONDA FIT 2018" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
"HONDA HRV 2019" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
"HONDA INSIGHT 2019" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
"HONDA ODYSSEY 2018" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
"HONDA PILOT 2017" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
"HONDA RIDGELINE 2017" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
"HYUNDAI ELANTRA 2021" = [3.169, 2.1259108157250735, 0.0819]
"HYUNDAI GENESIS 2015-2016" = [2.7807965280270794, 2.325, 0.0984484465421171]
"HYUNDAI IONIQ 5 2022" = [3.172929, 2.713050, 0.096019]
"HYUNDAI IONIQ ELECTRIC LIMITED 2019" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
"HYUNDAI IONIQ PHEV 2020" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
"HYUNDAI IONIQ PLUG-IN HYBRID 2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
"HYUNDAI KONA ELECTRIC 2019" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
"HYUNDAI PALISADE 2020" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
"HYUNDAI SANTA FE 2019" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
"HYUNDAI SANTA FE HYBRID 2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
"HYUNDAI SONATA 2019" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
"HYUNDAI SONATA 2020" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
"HYUNDAI SONATA HYBRID 2021" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
"HYUNDAI TUCSON HYBRID 4TH GEN" = [2.960174, 2.860284, 0.108745]
"JEEP GRAND CHEROKEE 2019" = [2.30972, 1.289689569171081, 0.117048]
"JEEP GRAND CHEROKEE V6 2018" = [2.27116, 1.4057367824262523, 0.11725947414922003]
"KIA EV6 2022" = [3.2, 2.093457, 0.05]
"KIA K5 2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
"KIA NIRO EV 2020" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
"KIA SORENTO GT LINE 2018" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
"KIA STINGER GT2 2018" = [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
"SUBARU IMPREZA LIMITED 2019" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
"SUBARU IMPREZA SPORT 2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
"TOYOTA AVALON 2016" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
"TOYOTA AVALON 2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
"TOYOTA AVALON 2022" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
"TOYOTA C-HR 2018" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
"TOYOTA C-HR 2021" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
"TOYOTA CAMRY 2018" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
"TOYOTA RAV4 2017" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
"TOYOTA RAV4 2019" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986]
"TOYOTA RAV4 HYBRID 2017" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
"TOYOTA RAV4 2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
"TOYOTA SIENNA 2018" = [1.689726, 1.3208264576110418, 0.140456]
"VOLKSWAGEN ARTEON 1ST GEN" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
"VOLKSWAGEN ATLAS 1ST GEN" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
"VOLKSWAGEN GOLF 7TH GEN" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
"VOLKSWAGEN JETTA 7TH GEN" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
"VOLKSWAGEN PASSAT 8TH GEN" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
"VOLKSWAGEN TIGUAN 2ND GEN" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]

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ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022]
CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085]
CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171]
HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.960174, 2.860284, 0.108745]
JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048]
JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003]
KIA EV6 2022: [3.2, 2.093457, 0.05]
KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]

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legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"MAZDA 3" = "MAZDA CX-9 2021"
"MAZDA 6" = "MAZDA CX-9 2021"
"MAZDA CX-5" = "MAZDA CX-9 2021"
"MAZDA CX-5 2022" = "MAZDA CX-9 2021"
"MAZDA CX-9" = "MAZDA CX-9 2021"
"TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
"TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
"LEXUS IS 2018" = "LEXUS NX 2018"
"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
"LEXUS RC 2020" = "LEXUS NX 2020"
"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
"KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
"KIA OPTIMA HYBRID 2017 & SPORTS 2019" = "HYUNDAI SONATA 2020"
"KIA OPTIMA HYBRID 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
"KIA FORTE E 2018 & GT 2021" = "HYUNDAI SONATA 2020"
"KIA CEED INTRO ED 2019" = "HYUNDAI SONATA 2020"
"KIA SELTOS 2021" = "HYUNDAI SONATA 2020"
"KIA NIRO HYBRID 2019" = "KIA NIRO EV 2020"
"KIA NIRO PLUG-IN HYBRID 2022" = "KIA NIRO EV 2020"
"KIA NIRO HYBRID 2021" = "KIA NIRO EV 2020"
"HYUNDAI VELOSTER 2019" = "HYUNDAI SONATA 2019"
"HYUNDAI KONA 2020" = "HYUNDAI KONA ELECTRIC 2019"
"HYUNDAI KONA HYBRID 2020" = "HYUNDAI KONA ELECTRIC 2019"
"HYUNDAI KONA ELECTRIC 2022" = "HYUNDAI KONA ELECTRIC 2019"
"HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
"HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
"HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
"HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019"
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019"
"HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
"HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
"HYUNDAI TUCSON 4TH GEN" = "HYUNDAI TUCSON HYBRID 4TH GEN"
"HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
"KIA K5 HYBRID 2020" = "KIA K5 2021"
"KIA STINGER 2022" = "KIA STINGER GT2 2018"
"GENESIS G90 2017" = "GENESIS G70 2018"
"GENESIS G80 2017" = "GENESIS G70 2018"
"GENESIS G70 2020" = "HYUNDAI SONATA 2020"
"HONDA FREED 2020" = "HONDA ODYSSEY 2018"
"HONDA CR-V EU 2016" = "HONDA CR-V 2016"
"HONDA CIVIC SEDAN 1.6 DIESEL 2019" = "HONDA CIVIC (BOSCH) 2019"
"HONDA E 2020" = "HONDA CIVIC (BOSCH) 2019"
"HONDA ODYSSEY CHN 2019" = "HONDA ODYSSEY 2018"
"BUICK LACROSSE 2017" = "CHEVROLET VOLT PREMIER 2017"
"BUICK REGAL ESSENCE 2018" = "CHEVROLET VOLT PREMIER 2017"
"CADILLAC ESCALADE ESV 2016" = "CHEVROLET VOLT PREMIER 2017"
"CADILLAC ATS Premium Performance 2018" = "CHEVROLET VOLT PREMIER 2017"
"CHEVROLET MALIBU PREMIER 2017" = "CHEVROLET VOLT PREMIER 2017"
"HOLDEN ASTRA RS-V BK 2017" = "CHEVROLET VOLT PREMIER 2017"
"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
"SKODA OCTAVIA 3RD GEN" = "SKODA SUPERB 3RD GEN"
"SKODA SCALA 1ST GEN" = "SKODA SUPERB 3RD GEN"
"SKODA KODIAQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
"SKODA KAROQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
"SKODA KAMIQ 1ST GEN" = "SKODA SUPERB 3RD GEN"
"VOLKSWAGEN CRAFTER 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN T-ROC 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN T-CROSS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN TOURAN 2ND GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN TRANSPORTER T6.1" = "VOLKSWAGEN TIGUAN 2ND GEN"
"AUDI Q2 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN TAOS 1ST GEN" = "VOLKSWAGEN TIGUAN 2ND GEN"
"VOLKSWAGEN POLO 6TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"
"SEAT LEON 3RD GEN" = "VOLKSWAGEN GOLF 7TH GEN"
"SEAT ATECA 1ST GEN" = "VOLKSWAGEN GOLF 7TH GEN"
"SUBARU CROSSTREK HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
"SUBARU FORESTER HYBRID 2020" = "SUBARU IMPREZA SPORT 2020"
"SUBARU LEGACY 7TH GEN" = "SUBARU OUTBACK 6TH GEN"
# Old subarus don't have much data guessing it's like low torque impreza"
"SUBARU OUTBACK 2018 - 2019" = "SUBARU IMPREZA LIMITED 2019"
"SUBARU OUTBACK 2015 - 2017" = "SUBARU IMPREZA LIMITED 2019"
"SUBARU FORESTER 2017 - 2018" = "SUBARU IMPREZA LIMITED 2019"
"SUBARU LEGACY 2015 - 2018" = "SUBARU IMPREZA LIMITED 2019"
"SUBARU ASCENT LIMITED 2019" = "SUBARU FORESTER 2019"

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MAZDA 3: MAZDA CX-9 2021
MAZDA 6: MAZDA CX-9 2021
MAZDA CX-5: MAZDA CX-9 2021
MAZDA CX-5 2022: MAZDA CX-9 2021
MAZDA CX-9: MAZDA CX-9 2021
TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
LEXUS IS 2018: LEXUS NX 2018
LEXUS CT HYBRID 2018 : LEXUS NX 2018
LEXUS ES 2018: TOYOTA CAMRY 2018
LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
LEXUS RC 2020: LEXUS NX 2020
KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
KIA OPTIMA HYBRID 4TH GEN FACELIFT: HYUNDAI SONATA 2020
KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
KIA SELTOS 2021: HYUNDAI SONATA 2020
KIA NIRO HYBRID 2019: KIA NIRO EV 2020
KIA NIRO PLUG-IN HYBRID 2022: KIA NIRO EV 2020
KIA NIRO HYBRID 2021: KIA NIRO EV 2020
HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
KIA K5 HYBRID 2020: KIA K5 2021
KIA STINGER 2022: KIA STINGER GT2 2018
GENESIS G90 2017: GENESIS G70 2018
GENESIS G80 2017: GENESIS G70 2018
GENESIS G70 2020: HYUNDAI SONATA 2020
HONDA FREED 2020: HONDA ODYSSEY 2018
HONDA CR-V EU 2016: HONDA CR-V 2016
HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
HONDA E 2020: HONDA CIVIC (BOSCH) 2019
HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017
BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
# Old subarus don't have much data guessing it's like low torque impreza
SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
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