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car interfaces: cleanup tire stiffness calculation (#28263)

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* cleanup tire stiffness calculation

* bump cereal

* think these todos still apply

* gm: same default

* revert comments

* bump

* update refs

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/29409/head^2
Jason Young 2 years ago committed by GitHub
parent 99a96c7f54
commit 90c4bbe8e4
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10 changed files with 70 additions and 107 deletions
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  1. 2
      cereal
  2. 2
      selfdrive/car/__init__.py
  3. 19
      selfdrive/car/gm/interface.py
  4. 39
      selfdrive/car/honda/interface.py
  5. 44
      selfdrive/car/hyundai/interface.py
  6. 12
      selfdrive/car/interfaces.py
  7. 9
      selfdrive/car/mazda/interface.py
  8. 2
      selfdrive/car/mock/interface.py
  9. 46
      selfdrive/car/toyota/interface.py
  10. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit f01d677e1d919bf5e33ec2dd209605943fe4914c
Subproject commit 2077dd1a1b0054713102aee8197434f8cfa07de7

2
selfdrive/car/__init__.py
Unescape View File

@ -60,7 +60,7 @@ def scale_rot_inertia(mass, wheelbase):
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
center_to_rear = wheelbase - center_to_front
tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
(center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)

19
selfdrive/car/gm/interface.py
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@ -4,7 +4,7 @@ from math import fabs, exp
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
tire_stiffness_factor = 0.444 # not optimized yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
@ -138,7 +138,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
@ -206,14 +206,14 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
ret.tireStiffnessFactor = 1.0
elif candidate == CAR.BOLT_EUV:
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 1.0
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -222,7 +222,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
tire_stiffness_factor = 1.0
ret.tireStiffnessFactor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
@ -242,15 +242,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.64
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 1.0
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
# returns a car.CarState

39
selfdrive/car/honda/interface.py
Unescape View File

@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -105,7 +105,6 @@ class CarInterface(CarInterfaceBase):
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = CivicParams.MASS
@ -113,7 +112,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = CivicParams.CENTER_TO_FRONT
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
tire_stiffness_factor = 1.
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
@ -122,7 +120,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 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
tire_stiffness_factor = 0.8467
ret.tireStiffnessFactor = 0.8467
if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@ -135,7 +133,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.72
ret.tireStiffnessFactor = 0.72
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
@ -144,7 +142,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
@ -162,7 +160,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
tire_stiffness_factor = 0.677
ret.tireStiffnessFactor = 0.677
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
@ -171,7 +169,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 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
tire_stiffness_factor = 0.677
ret.tireStiffnessFactor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
@ -181,7 +179,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.39
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
tire_stiffness_factor = 0.75
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
@ -191,7 +189,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.75
ret.tireStiffnessFactor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G):
@ -200,7 +198,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
if candidate == CAR.HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
@ -212,7 +210,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
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]]
@ -223,14 +221,14 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 11.95 # as spec
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
tire_stiffness_factor = 0.677
ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.mass = 1900. + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
tire_stiffness_factor = 0.82
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
@ -243,7 +241,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 16.0 # as spec
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
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
@ -252,7 +250,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
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
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
@ -261,7 +259,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.39
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
tire_stiffness_factor = 0.82
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
@ -270,7 +268,7 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
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
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else:
@ -296,11 +294,6 @@ class CarInterface(CarInterfaceBase):
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8

44
selfdrive/car/hyundai/interface.py
Unescape View File

@ -6,7 +6,7 @@ from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@ -59,7 +59,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
@ -67,12 +66,12 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
ret.tireStiffnessFactor = 0.82
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.SONATA_LF:
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
@ -81,23 +80,23 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
ret.tireStiffnessFactor = 0.63
elif candidate == CAR.ELANTRA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
@ -107,29 +106,29 @@ class CarInterface(CarInterfaceBase):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
tire_stiffness_factor = 0.385
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
ret.tireStiffnessFactor = 0.385
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.TUCSON:
ret.mass = 3520. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15
tire_stiffness_factor = 0.385
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
ret.mass = 1630. + STD_CARGO_KG # average
ret.wheelbase = 2.756
ret.steerRatio = 16.
tire_stiffness_factor = 0.385
ret.tireStiffnessFactor = 0.385
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim
ret.wheelbase = 3.000
@ -145,14 +144,13 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
ret.wheelbase = 2.7
ret.steerRatio = 13.6 # average of all the cars
tire_stiffness_factor = 0.385
ret.tireStiffnessFactor = 0.385
if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756
@ -161,7 +159,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
if candidate == CAR.KIA_OPTIMA_G4:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
@ -172,27 +170,27 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_CEED:
ret.mass = 1450. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
tire_stiffness_factor = 0.65
ret.tireStiffnessFactor = 0.65
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948 + STD_CARGO_KG
ret.wheelbase = 2.97
ret.steerRatio = 14.26
tire_stiffness_factor = 0.65
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
ret.wheelbase = 2.756
@ -302,10 +300,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.4
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
@staticmethod

12
selfdrive/car/interfaces.py
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@ -99,16 +99,9 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
# Set common params using fields set by the car interface
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
# Set params dependent on values set by the car interface
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: some car interfaces set stiffness factor
if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
return ret
@ -151,6 +144,7 @@ class CarInterfaceBase(ABC):
ret.autoResumeSng = True # describes whether car can resume from a stop automatically
# standard ALC params
ret.tireStiffnessFactor = 1.0
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0

9
selfdrive/car/mazda/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
tire_stiffness_factor = 0.70 # not optimized yet
ret.tireStiffnessFactor = 0.70 # not optimized yet
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -46,11 +46,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.41
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
return ret
# returns a car.CarState

2
selfdrive/car/mock/interface.py
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@ -26,8 +26,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
return ret

46
selfdrive/car/toyota/interface.py
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@ -4,7 +4,7 @@ from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
EventName = car.CarEvent.EventName
@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
# Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw:
@ -60,20 +60,20 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.tireStiffnessFactor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.tireStiffnessFactor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
@ -81,28 +81,28 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.tireStiffnessFactor = 0.8
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@ -111,14 +111,14 @@ class CarInterface(CarInterfaceBase):
stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.tireStiffnessFactor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
@ -139,7 +139,7 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
@ -147,62 +147,56 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.tireStiffnessFactor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
elif candidate == CAR.PRIUS_TSS2:
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.tireStiffnessFactor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.tireStiffnessFactor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
ret.centerToFront = ret.wheelbase * 0.44
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
b3c089c376bb34666110bb6944e8f0501f37780b
a2f54aa2f72dd63842ae15b3cf718bf17191599c
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