Change car controller interface from gas/brake to acceleration (#21911)

* retune civic

* seems smooth

* back to normal

* new ref

* fix conflict

* runs

* rm

* accel scale is 4

* toyota should be good

* more cleanup

* fixup

* better naming

* update ref

* deprecated

* sending brake when not enable causes a fault

* rm gas and brake

* unused

* update ref

* acura logic is no more

* wrong before

* revert tuning cleanup

* adress comments

* update ref

* already on master

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 1ac89f14aa

selfdrive/car/chrysler/interface.py

@@ -6,10 +6,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/ford/interface.py

@@ -7,11 +7,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/carcontroller.py

@@ -46,18 +46,13 @@ class CarController():
 
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # GAS/BRAKE
-    # no output if not enabled, but keep sending keepalive messages
-    # treat pedals as one
-    final_pedal = actuators.gas - actuators.brake
-
     if not enabled:
       # Stock ECU sends max regen when not enabled.
       apply_gas = P.MAX_ACC_REGEN
       apply_brake = 0
     else:
-      apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
-      apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
+      apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
+      apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
 
     # Gas/regen and brakes - all at 25Hz
     if (frame % 4) == 0:

selfdrive/car/gm/interface.py

@@ -11,10 +11,6 @@ EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/gm/values.py

@@ -26,9 +26,9 @@ class CarControllerParams():
     ZERO_GAS = 2048
     MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
     self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
-    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
+    self.GAS_LOOKUP_BP = [-1.0, 0., 2.0]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-    self.BRAKE_LOOKUP_BP = [-1., -0.25]
+    self.BRAKE_LOOKUP_BP = [-4., -1.0]
     self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
 
 class CAR:

selfdrive/car/honda/carcontroller.py

@@ -11,7 +11,29 @@ from opendbc.can.packer import CANPacker
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-# TODO: not clear this does anything useful
+def compute_gb_honda_bosch(accel, speed):
+  #TODO returns 0s, is unused
+  return 0.0, 0.0
+
+
+def compute_gb_honda_nidec(accel, speed):
+  creep_brake = 0.0
+  creep_speed = 2.3
+  creep_brake_value = 0.15
+  if speed < creep_speed:
+    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
+  gb = float(accel) / 4.8 - creep_brake
+  return clip(gb, 0.0, 1.0), clip(-gb, 0.0, 1.0)
+
+
+def compute_gas_brake(accel, speed, fingerprint):
+  if fingerprint in HONDA_BOSCH:
+    return compute_gb_honda_bosch(accel, speed)
+  else:
+    return compute_gb_honda_nidec(accel, speed)
+
+
+#TODO not clear this does anything useful
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params
   brake_hyst_on = 0.02     # to activate brakes exceed this value
@@ -94,8 +116,15 @@ class CarController():
 
     P = self.params
 
+    if enabled:
+      accel = actuators.accel
+      gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
+    else:
+      accel = 0.0
+      gas, brake = 0.0, 0.0
+
     # *** apply brake hysteresis ***
-    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
+    pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
 
     # *** no output if not enabled ***
     if not enabled and CS.out.cruiseState.enabled:
@@ -107,7 +136,7 @@ class CarController():
     pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.pcmCruise
 
     # *** rate limit after the enable check ***
-    self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
+    self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
 
     # vehicle hud display, wait for one update from 10Hz 0x304 msg
     if hud_show_lanes:
@@ -147,18 +176,13 @@ class CarController():
       lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
 
-    accel = actuators.gas - actuators.brake
 
     # TODO: pass in LoC.long_control_state and use that to decide starting/stoppping
     stopping = accel < 0 and CS.out.vEgo < 0.3
     starting = accel > 0 and CS.out.vEgo < 0.3
 
     # Prevent rolling backwards
-    accel = -1.0 if stopping else accel
-    if CS.CP.carFingerprint in HONDA_BOSCH:
-      apply_accel = interp(accel, P.BOSCH_ACCEL_LOOKUP_BP, P.BOSCH_ACCEL_LOOKUP_V)
-    else:
-      apply_accel = interp(accel, P.NIDEC_ACCEL_LOOKUP_BP, P.NIDEC_ACCEL_LOOKUP_V)
+    accel = -4.0 if stopping else accel
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -167,14 +191,15 @@ class CarController():
       pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
     else:
       max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
-      pcm_accel = int(clip(apply_accel/max_accel, 0.0, 1.0) * 0xc6)
+      # TODO this 1.44 is just to maintain previous behavior
+      pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
       pcm_speed_BP = [-wind_brake,
                       -wind_brake*(3/4),
                       0.0]
       pcm_speed_V = [0.0,
-                     clip(CS.out.vEgo + apply_accel/2.0 - 2.0, 0.0, 100.0),
-                     clip(CS.out.vEgo + apply_accel/2.0 + 2.0, 0.0, 100.0)]
-      pcm_speed = interp(accel, pcm_speed_BP, pcm_speed_V)
+                     clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
+                     clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0)]
+      pcm_speed = interp(-brake, pcm_speed_BP, pcm_speed_V)
 
     if not CS.CP.openpilotLongitudinalControl:
       if (frame % 2) == 0:
@@ -193,8 +218,8 @@ class CarController():
         ts = frame * DT_CTRL
 
         if CS.CP.carFingerprint in HONDA_BOSCH:
-          apply_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, apply_accel, apply_gas, idx, stopping, starting, CS.CP.carFingerprint))
+          bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
 
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@@ -209,7 +234,7 @@ class CarController():
             gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
             # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
             # This prevents unexpected pedal range rescaling
-            apply_gas = clip(gas_mult * actuators.gas, 0., 1.)
+            apply_gas = clip(gas_mult * gas, 0., 1.)
             can_sends.append(create_gas_command(self.packer, apply_gas, idx))
 
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,

selfdrive/car/honda/interface.py

@@ -15,38 +15,7 @@ EventName = car.CarEvent.EventName
 TransmissionType = car.CarParams.TransmissionType
 
 
-def compute_gb_honda_bosch(accel, speed):
-  return float(accel) / 3.5
-
-
-def compute_gb_honda_nidec(accel, speed):
-  creep_brake = 0.0
-  creep_speed = 2.3
-  creep_brake_value = 0.15
-  if speed < creep_speed:
-    creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
-  return float(accel) / 4.8 - creep_brake
-
-
-def compute_gb_acura(accel, speed):
-  GB_VALUES = [-2., 0.0, 0.8]
-  GB_BP = [-5., 0.0, 4.0]
-  return interp(accel, GB_BP, GB_VALUES)
-
-
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    if self.CS.CP.carFingerprint in HONDA_BOSCH:
-      self.compute_gb = compute_gb_honda_bosch
-    else:
-      self.compute_gb = compute_gb_honda_nidec
-
-  @staticmethod
-  def compute_gb(accel, speed): # pylint: disable=method-hidden
-    raise NotImplementedError
-
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
 
@@ -333,17 +302,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    if candidate in HONDA_BOSCH:
-      ret.gasMaxBP = [0.]  # m/s
-      ret.gasMaxV = [0.6]
-      ret.brakeMaxBP = [0.]  # m/s
-      ret.brakeMaxV = [1.]   # max brake allowed, 3.5m/s^2
-    else:
-      ret.gasMaxBP = [0.]  # m/s
-      ret.gasMaxV = [0.6]  # max gas allowed
-      ret.brakeMaxBP = [5., 20.]  # m/s
-      ret.brakeMaxV = [1., 0.8]   # max brake allowed
-
     ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1
@@ -422,7 +380,7 @@ class CarInterface(CarInterfaceBase):
       # we engage when pcm is active (rising edge)
       if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
         events.add(EventName.pcmEnable)
-      elif not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
+      elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
         # it can happen that car cruise disables while comma system is enabled: need to
         # keep braking if needed or if the speed is very low
         if ret.vEgo < self.CP.minEnableSpeed + 2.:

selfdrive/car/honda/values.py

@@ -22,10 +22,7 @@ class CarControllerParams():
     self.NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
     self.NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
 
-
-    self.BOSCH_ACCEL_LOOKUP_BP = [-1., 0., 0.6]
-    self.BOSCH_ACCEL_LOOKUP_V = [-3.5, 0., 2.]
-    self.BOSCH_GAS_LOOKUP_BP = [0., 0.6]
+    self.BOSCH_GAS_LOOKUP_BP = [0., 2.0]  # 2m/s^2
     self.BOSCH_GAS_LOOKUP_V = [0, 2000]
 
 

selfdrive/car/hyundai/interface.py

@@ -6,11 +6,6 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
-
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 3.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/interfaces.py

@@ -45,10 +45,6 @@ class CarInterfaceBase():
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
     return 1.
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    raise NotImplementedError
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     raise NotImplementedError
@@ -72,15 +68,11 @@ class CarInterfaceBase():
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
-    ret.gasMaxBP = [0.]
-    ret.gasMaxV = [.5]       # half max brake
-    ret.brakeMaxBP = [0.]
-    ret.brakeMaxV = [1.]
     ret.openpilotLongitudinalControl = False
     ret.startAccel = 0.0
     ret.minSpeedCan = 0.3
-    ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
-    ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
+    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
+    ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]

selfdrive/car/nissan/interface.py

@@ -9,10 +9,6 @@ class CarInterface(CarInterfaceBase):
     super().__init__(CP, CarController, CarState)
     self.cp_adas = self.CS.get_adas_can_parser(CP)
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
 

selfdrive/car/subaru/interface.py

@@ -6,10 +6,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/tesla/interface.py

@@ -6,11 +6,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    # TODO: is this correct?
-    return accel
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/car/toyota/carcontroller.py

@@ -1,5 +1,5 @@
 from cereal import car
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
@@ -7,7 +7,6 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
 from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
 from opendbc.can.packer import CANPacker
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
@@ -45,7 +44,9 @@ class CarController():
 
     # gas and brake
     interceptor_gas_cmd = 0.
-    pcm_accel_cmd = actuators.gas - actuators.brake
+    # TODO this is needed to preserve behavior, but doesn't make sense
+    # This can all be cleaned up
+    pcm_accel_cmd = actuators.accel / CarControllerParams.ACCEL_SCALE
 
     if CS.CP.enableGasInterceptor:
       # handle hysteresis when around the minimum acc speed
@@ -57,8 +58,9 @@ class CarController():
       if self.use_interceptor and enabled:
         # only send negative accel when using interceptor. gas handles acceleration
         # +0.06 offset to reduce ABS pump usage when OP is engaged
-        interceptor_gas_cmd = clip(actuators.gas, 0., 1.)
-        pcm_accel_cmd = 0.06 - actuators.brake
+        MAX_INTERCEPTOR_GAS = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED], [0.2, 0.5])
+        interceptor_gas_cmd = clip(actuators.accel/CarControllerParams.ACCEL_SCALE, 0., MAX_INTERCEPTOR_GAS)
+        pcm_accel_cmd = 0.06 - clip(-actuators.accel/CarControllerParams.ACCEL_SCALE, 0., 1.)
 
     pcm_accel_cmd, self.accel_steady = accel_hysteresis(pcm_accel_cmd, self.accel_steady, enabled)
     pcm_accel_cmd = clip(pcm_accel_cmd * CarControllerParams.ACCEL_SCALE, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)

selfdrive/car/toyota/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
+from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -9,10 +9,6 @@ EventName = car.CarEvent.EventName
 
 
 class CarInterface(CarInterfaceBase):
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / CarControllerParams.ACCEL_SCALE
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
@@ -316,9 +312,6 @@ class CarInterface(CarInterfaceBase):
     ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
 
     if ret.enableGasInterceptor:
-      # Transitions from original pedal tuning at MIN_ACC_SPEED to default tuning at MIN_ACC_SPEED + hysteresis gap
-      ret.gasMaxBP = [0., MIN_ACC_SPEED]
-      ret.gasMaxV = [0.2, 0.5]
       ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
       ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
       ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
@@ -331,8 +324,8 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
       ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
       ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
-      ret.stoppingBrakeRate = 0.1  # reach stopping target smoothly
-      ret.startingBrakeRate = 2.0  # release brakes fast
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      ret.startingAccelRate = 6.0  # release brakes fast
       ret.startAccel = 1.2  # Accelerate from 0 faster
     else:
       # Default longitudinal tune
@@ -363,7 +356,7 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.lowSpeedLockout)
     if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
       events.add(EventName.belowEngageSpeed)
-      if c.actuators.gas > 0.1:
+      if c.actuators.accel > 0.3:
         # some margin on the actuator to not false trigger cancellation while stopping
         events.add(EventName.speedTooLow)
       if ret.vEgo < 0.001:

selfdrive/car/volkswagen/interface.py

@@ -20,10 +20,6 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
-  @staticmethod
-  def compute_gb(accel, speed):
-    return float(accel) / 4.0
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

selfdrive/controls/controlsd.py

@@ -118,7 +118,7 @@ class Controls:
     self.AM = AlertManager()
     self.events = Events()
 
-    self.LoC = LongControl(self.CP, self.CI.compute_gb)
+    self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
 
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
@@ -459,8 +459,8 @@ class Controls:
       self.LoC.reset(v_pid=CS.vEgo)
 
     if not self.joystick_mode:
-      # Gas/Brake PID loop
-      actuators.gas, actuators.brake, self.v_target, self.a_target = self.LoC.update(self.active, CS, self.CP, long_plan)
+      # accel PID loop
+      actuators.accel, self.v_target, self.a_target = self.LoC.update(self.active, CS, self.CP, long_plan)
 
       # Steering PID loop and lateral MPC
       desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
@@ -472,8 +472,7 @@ class Controls:
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0 and self.active:
-        gb = clip(self.sm['testJoystick'].axes[0], -1, 1)
-        actuators.gas, actuators.brake = max(gb, 0), max(-gb, 0)
+        actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
 
         steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
         # max angle is 45 for angle-based cars
@@ -528,7 +527,7 @@ class Controls:
     # TODO remove car specific stuff in controls
     # Some override values for Honda
     # brake discount removes a sharp nonlinearity
-    brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
+    brake_discount = (1.0 - clip(-actuators.accel * (3.0/4.0), 0.0, 1.0))
     speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
     CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
     CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,

selfdrive/controls/lib/longcontrol.py

@@ -6,19 +6,23 @@ from selfdrive.modeld.constants import T_IDXS
 
 LongCtrlState = log.ControlsState.LongControlState
 
+ACCEL_MAX = 2.0
+ACCEL_MIN = -4.0
+ACCEL_SCALE = 4.0
 STOPPING_EGO_SPEED = 0.5
 STOPPING_TARGET_SPEED_OFFSET = 0.01
 STARTING_TARGET_SPEED = 0.5
-BRAKE_THRESHOLD_TO_PID = 0.2
+DECEL_THRESHOLD_TO_PID = 0.8
 
-BRAKE_STOPPING_TARGET = 0.5  # apply at least this amount of brake to maintain the vehicle stationary
+DECEL_STOPPING_TARGET = 2.0  # apply at least this amount of brake to maintain the vehicle stationary
 
 RATE = 100.0
 DEFAULT_LONG_LAG = 0.15
 
 
+# TODO this logic isn't really car independent, does not belong here
 def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
-                             output_gb, brake_pressed, cruise_standstill, min_speed_can):
+                             output_accel, brake_pressed, cruise_standstill, min_speed_can):
   """Update longitudinal control state machine"""
   stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
@@ -47,22 +51,23 @@ def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
     elif long_control_state == LongCtrlState.starting:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
-      elif output_gb >= -BRAKE_THRESHOLD_TO_PID:
+      elif output_accel >= -DECEL_THRESHOLD_TO_PID:
         long_control_state = LongCtrlState.pid
 
   return long_control_state
 
 
 class LongControl():
-  def __init__(self, CP, compute_gb):
+  def __init__(self, CP):
     self.long_control_state = LongCtrlState.off  # initialized to off
     self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             rate=RATE,
-                            sat_limit=0.8,
-                            convert=compute_gb)
+                            sat_limit=0.8)
+    self.pid.pos_limit = ACCEL_MAX
+    self.pid.neg_limit = ACCEL_MIN
     self.v_pid = 0.0
-    self.last_output_gb = 0.0
+    self.last_output_accel = 0.0
 
   def reset(self, v_pid):
     """Reset PID controller and change setpoint"""
@@ -83,55 +88,48 @@ class LongControl():
       a_target = 0.0
 
 
-    # Actuation limits
-    gas_max = interp(CS.vEgo, CP.gasMaxBP, CP.gasMaxV)
-    brake_max = interp(CS.vEgo, CP.brakeMaxBP, CP.brakeMaxV)
-
     # Update state machine
-    output_gb = self.last_output_gb
+    output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,
-                                                       v_target_future, self.v_pid, output_gb,
+                                                       v_target_future, self.v_pid, output_accel,
                                                        CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
 
     v_ego_pid = max(CS.vEgo, CP.minSpeedCan)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
     if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.reset(v_ego_pid)
-      output_gb = 0.
+      output_accel = 0.
 
     # tracking objects and driving
     elif self.long_control_state == LongCtrlState.pid:
       self.v_pid = v_target
-      self.pid.pos_limit = gas_max
-      self.pid.neg_limit = - brake_max
 
       # Toyota starts braking more when it thinks you want to stop
       # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
       prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
       deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
 
-      output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot)
+      output_accel = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot)
 
       if prevent_overshoot:
-        output_gb = min(output_gb, 0.0)
+        output_accel = min(output_accel, 0.0)
 
     # Intention is to stop, switch to a different brake control until we stop
     elif self.long_control_state == LongCtrlState.stopping:
       # Keep applying brakes until the car is stopped
-      if not CS.standstill or output_gb > -BRAKE_STOPPING_TARGET:
-        output_gb -= CP.stoppingBrakeRate / RATE
-      output_gb = clip(output_gb, -brake_max, gas_max)
+      if not CS.standstill or output_accel > -DECEL_STOPPING_TARGET:
+        output_accel -= CP.stoppingDecelRate / RATE
+      output_accel = clip(output_accel, ACCEL_MIN, ACCEL_MAX)
 
       self.reset(CS.vEgo)
 
     # Intention is to move again, release brake fast before handing control to PID
     elif self.long_control_state == LongCtrlState.starting:
-      if output_gb < -0.2:
-        output_gb += CP.startingBrakeRate / RATE
+      if output_accel < -DECEL_THRESHOLD_TO_PID:
+        output_accel += CP.startingAccelRate / RATE
       self.reset(CS.vEgo)
 
-    self.last_output_gb = output_gb
-    final_gas = clip(output_gb, 0., gas_max)
-    final_brake = -clip(output_gb, -brake_max, 0.)
+    self.last_output_accel = output_accel
+    final_accel = clip(output_accel, ACCEL_MIN, ACCEL_MAX)
 
-    return final_gas, final_brake, v_target, a_target
+    return final_accel, v_target, a_target

selfdrive/controls/lib/pid.py

@@ -11,7 +11,7 @@ def apply_deadzone(error, deadzone):
   return error
 
 class PIController():
-  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
+  def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8):
     self._k_p = k_p  # proportional gain
     self._k_i = k_i  # integral gain
     self.k_f = k_f  # feedforward gain
@@ -23,7 +23,6 @@ class PIController():
     self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.sat_limit = sat_limit
-    self.convert = convert
 
     self.reset()
 
@@ -68,9 +67,6 @@ class PIController():
       i = self.i + error * self.k_i * self.i_rate
       control = self.p + self.f + i
 
-      if self.convert is not None:
-        control = self.convert(control, speed=self.speed)
-
       # Update when changing i will move the control away from the limits
       # or when i will move towards the sign of the error
       if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
@@ -79,9 +75,6 @@ class PIController():
         self.i = i
 
     control = self.p + self.f + self.i
-    if self.convert is not None:
-      control = self.convert(control, speed=self.speed)
-
     self.saturated = self._check_saturation(control, check_saturation, error)
 
     self.control = clip(control, self.neg_limit, self.pos_limit)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b9d80fdb3942a1c43621349dafe0763b03717c10
+b845a62e02d23f734dad2811b6a96d17447a933f

tools/replay/ui.py

@@ -10,6 +10,7 @@ import numpy as np
 import pygame  # pylint: disable=import-error
 
 import cereal.messaging as messaging
+from common.numpy_fast import clip
 from common.basedir import BASEDIR
 from selfdrive.config import UIParams as UP
 from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, _FULL_FRAME_SIZE,
@@ -146,10 +147,12 @@ def ui_thread(addr, frame_address):
     plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
     plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
+    # TODO gas is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
     plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = sm['carControl'].actuators.brake
+    # TODO brake is deprecated
+    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
     plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
     plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride

tools/sim/bridge.py

@@ -11,6 +11,7 @@ from typing import Any
 
 import cereal.messaging as messaging
 from common.params import Params
+from common.numpy_fast import clip
 from common.realtime import Ratekeeper, DT_DMON
 from lib.can import can_function
 from selfdrive.car.honda.values import CruiseButtons
@@ -295,9 +296,10 @@ def bridge(q):
 
     if is_openpilot_engaged:
       sm.update(0)
-      throttle_op = sm['carControl'].actuators.gas #[0,1]
-      brake_op = sm['carControl'].actuators.brake #[0,1]
-      steer_op = sm['carControl'].actuators.steeringAngleDeg 
+      # TODO gas and brake is deprecated
+      throttle_op = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+      brake_op = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
+      steer_op = sm['carControl'].actuators.steeringAngleDeg
 
       throttle_out = throttle_op
       steer_out = steer_op