sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Subaru: Add Impreza/Crosstrek 2020 (#21011)

Browse Source 
* Add Subaru Impreza/Crosstrek 2020

* Update selfdrive/test/test_routes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23245/head
martinl 3 years ago committed by GitHub
parent 3bdb445c84
commit 7fd98757b4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 40 additions and 13 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      docs/CARS.md
  2. 11
      selfdrive/car/subaru/carcontroller.py
  3. 10
      selfdrive/car/subaru/interface.py
  4. 29
      selfdrive/car/subaru/values.py
  5. 1
      selfdrive/test/test_routes.py

2
docs/CARS.md
Unescape View File

@ -147,7 +147,7 @@
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen| Arteon 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |

11
selfdrive/car/subaru/carcontroller.py
Unescape View File

@ -12,6 +12,7 @@ class CarController():
self.cruise_button_prev = 0
self.steer_rate_limited = False
self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
@ -19,23 +20,23 @@ class CarController():
can_sends = []
# *** steering ***
if (frame % CarControllerParams.STEER_STEP) == 0:
if (frame % self.p.STEER_STEP) == 0:
apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
# limits due to driver torque
new_steer = int(round(apply_steer))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
self.steer_rate_limited = new_steer != apply_steer
if not enabled:
apply_steer = 0
if CS.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
self.apply_steer_last = apply_steer

10
selfdrive/car/subaru/interface.py
Unescape View File

@ -45,6 +45,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
if candidate == CAR.IMPREZA_2020:
ret.mass = 1480. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.00005
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]]
if candidate == CAR.FORESTER:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67

29
selfdrive/car/subaru/values.py
Unescape View File

@ -5,17 +5,22 @@ from cereal import car
Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 2047 # max_steer 4095
STEER_STEP = 2 # how often we update the steer cmd
STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
STEER_DELTA_DOWN = 70 # torque decrease per refresh
STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
def __init__(self, CP):
if CP.carFingerprint == CAR.IMPREZA_2020:
self.STEER_MAX = 1439
else:
self.STEER_MAX = 2047
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc
class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
@ -30,6 +35,14 @@ FINGERPRINTS = {
CAR.IMPREZA: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
}],
CAR.IMPREZA_2020: [{
# SUBARU CROSSTREK SPORT 2020
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
},
# IMPREZA 2020
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
}],
CAR.FORESTER: [{
# Forester 2019-2020
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
@ -71,6 +84,7 @@ FINGERPRINTS = {
STEER_THRESHOLD = {
CAR.ASCENT: 80,
CAR.IMPREZA: 80,
CAR.IMPREZA_2020: 80,
CAR.FORESTER: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
@ -81,6 +95,7 @@ STEER_THRESHOLD = {
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),

1
selfdrive/test/test_routes.py
Unescape View File

@ -171,6 +171,7 @@ routes = [
TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# Dashcam
TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
# Dashcam

Write Preview
Loading…
Cancel
Save