diff --git a/RELEASES.md b/RELEASES.md index a4e18d92c0..8e8b9a71ea 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -4,6 +4,7 @@ Version 0.9.2 (2023-03-XX) * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. * Buick LaCrosse 2017-19 support thanks to koch-cf! * Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Honda HR-V 2023 support thanks to AlexandreSato! * Kia Niro EV 2023 support thanks to JosselinLecocq! * Lexus ES 2017-18 support * Škoda Fabia 2022-23 support thanks to jyoung8607! diff --git a/docs/CARS.md b/docs/CARS.md index 0679a25886..7ae8c06646 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 243 Supported Cars +# 244 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -55,6 +55,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| diff --git a/panda b/panda index 0117ff9d13..ada8b49cb5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0117ff9d131eb22c0737e0758ab9178acec19744 +Subproject commit ada8b49cb5940d306c529156622022be2d7fdaa2 diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 99b8c43635..bcc239c2df 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) @@ -179,7 +179,7 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3a40f03dd9..31152a783a 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] - elif candidate == CAR.HRV: + elif candidate in (CAR.HRV, CAR.HRV_3G): ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] - ret.wheelSpeedFactor = 1.025 + if candidate == CAR.HRV: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index f6be1b1e3a..68e60746ac 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -87,6 +87,7 @@ class CAR: FIT = "HONDA FIT 2018" FREED = "HONDA FREED 2020" HRV = "HONDA HRV 2019" + HRV_3G = "HONDA HR-V 2023" ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" ACURA_RDX = "ACURA RDX 2018" @@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), @@ -1419,6 +1421,32 @@ FW_VERSIONS = { b'78109-THW-A110\x00\x00', ], }, + CAR.HRV_3G: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18DA1EF1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, CAR.ACURA_ILX: { (Ecu.gateway, 0x18daeff1, None): [ b'38897-TX6-A010\x00\x00', @@ -1537,6 +1565,7 @@ DBC = { CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), @@ -1556,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} -HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 32acacdd4f..90a8ad5662 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -69,6 +69,7 @@ routes = [ CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), + CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 02b586d578..2aa049a89d 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -52,3 +52,4 @@ 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]