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interfaces: add common STD_CARGO_KG to mass (#29416)

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* cleanup std_cargo_kg

* fix Sonata mass

* remove snowflake construct

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: f76ffbdbbc
beeps
Jason Young 2 years ago committed by GitHub
parent 183515c04b
commit ac83f87b36
12 changed files with 154 additions and 150 deletions
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  1. 10
      selfdrive/car/chrysler/interface.py
  2. 14
      selfdrive/car/ford/interface.py
  3. 28
      selfdrive/car/gm/interface.py
  4. 36
      selfdrive/car/honda/interface.py
  5. 74
      selfdrive/car/hyundai/interface.py
  6. 6
      selfdrive/car/interfaces.py
  7. 10
      selfdrive/car/mazda/interface.py
  8. 8
      selfdrive/car/nissan/interface.py
  9. 18
      selfdrive/car/subaru/interface.py
  10. 4
      selfdrive/car/tesla/interface.py
  11. 40
      selfdrive/car/toyota/interface.py
  12. 56
      selfdrive/car/volkswagen/interface.py

10
selfdrive/car/chrysler/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -35,7 +35,7 @@ class CarInterface(CarInterfaceBase):
# Chrysler # Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020): if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
ret.mass = 2242. + STD_CARGO_KG ret.mass = 2242.
ret.wheelbase = 3.089 ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017
@ -46,7 +46,7 @@ class CarInterface(CarInterfaceBase):
# Jeep # Jeep
elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.mass = 1778 + STD_CARGO_KG ret.mass = 1778
ret.wheelbase = 2.71 ret.wheelbase = 2.71
ret.steerRatio = 16.7 ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88 ret.wheelbase = 3.88
ret.steerRatio = 16.3 ret.steerRatio = 16.3
ret.mass = 2493. + STD_CARGO_KG ret.mass = 2493.
ret.minSteerSpeed = 14.5 ret.minSteerSpeed = 14.5
# Older EPS FW allow steer to zero # Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw): if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785 ret.wheelbase = 3.785
ret.steerRatio = 15.61 ret.steerRatio = 15.61
ret.mass = 3405. + STD_CARGO_KG ret.mass = 3405.
ret.minSteerSpeed = 16 ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)

14
selfdrive/car/ford/interface.py
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@ -2,7 +2,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.ford.fordcan import CanBus from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -39,33 +39,33 @@ class CarInterface(CarInterfaceBase):
if candidate == CAR.BRONCO_SPORT_MK1: if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.steerRatio = 17.7 ret.steerRatio = 17.7
ret.mass = 1625 + STD_CARGO_KG ret.mass = 1625
elif candidate == CAR.ESCAPE_MK4: elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71 ret.wheelbase = 2.71
ret.steerRatio = 16.7 ret.steerRatio = 16.7
ret.mass = 1750 + STD_CARGO_KG ret.mass = 1750
elif candidate == CAR.EXPLORER_MK6: elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025 ret.wheelbase = 3.025
ret.steerRatio = 16.8 ret.steerRatio = 16.8
ret.mass = 2050 + STD_CARGO_KG ret.mass = 2050
elif candidate == CAR.F_150_MK14: elif candidate == CAR.F_150_MK14:
# required trim only on SuperCrew # required trim only on SuperCrew
ret.wheelbase = 3.69 ret.wheelbase = 3.69
ret.steerRatio = 17.0 ret.steerRatio = 17.0
ret.mass = 2000 + STD_CARGO_KG ret.mass = 2000
elif candidate == CAR.FOCUS_MK4: elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 15.0 ret.steerRatio = 15.0
ret.mass = 1350 + STD_CARGO_KG ret.mass = 1350
elif candidate == CAR.MAVERICK_MK1: elif candidate == CAR.MAVERICK_MK1:
ret.wheelbase = 3.076 ret.wheelbase = 3.076
ret.steerRatio = 17.0 ret.steerRatio = 17.0
ret.mass = 1650 + STD_CARGO_KG ret.mass = 1650
else: else:
raise ValueError(f"Unsupported car: {candidate}") raise ValueError(f"Unsupported car: {candidate}")

28
selfdrive/car/gm/interface.py
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@ -4,7 +4,7 @@ from math import fabs, exp
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG 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.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT: if candidate == CAR.VOLT:
ret.mass = 1607. + STD_CARGO_KG ret.mass = 1607.
ret.wheelbase = 2.69 ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
@ -149,13 +149,13 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU: elif candidate == CAR.MALIBU:
ret.mass = 1496. + STD_CARGO_KG ret.mass = 1496.
ret.wheelbase = 2.83 ret.wheelbase = 2.83
ret.steerRatio = 15.8 ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA: elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG ret.mass = 1363.
ret.wheelbase = 2.662 ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now # Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
@ -163,7 +163,7 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACADIA: elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4353. * CV.LB_TO_KG
ret.wheelbase = 2.86 ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46 ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
@ -171,27 +171,27 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE: elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712. + STD_CARGO_KG ret.mass = 1712.
ret.wheelbase = 2.91 ret.wheelbase = 2.91
ret.steerRatio = 15.8 ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL: elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS: elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601. + STD_CARGO_KG ret.mass = 1601.
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 15.3 ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE: elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG # (5552+5815)/2 ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3 ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
@ -199,7 +199,7 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ESCALADE_ESV: elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG ret.mass = 2739.
ret.wheelbase = 3.302 ret.wheelbase = 3.302
ret.steerRatio = 17.3 ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
@ -209,7 +209,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 1.0 ret.tireStiffnessFactor = 1.0
elif candidate == CAR.BOLT_EUV: elif candidate == CAR.BOLT_EUV:
ret.mass = 1669. + STD_CARGO_KG ret.mass = 1669.
ret.wheelbase = 2.63779 ret.wheelbase = 2.63779
ret.steerRatio = 16.8 ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
@ -218,7 +218,7 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO: elif candidate == CAR.SILVERADO:
ret.mass = 2450. + STD_CARGO_KG ret.mass = 2450.
ret.wheelbase = 3.75 ret.wheelbase = 3.75
ret.steerRatio = 16.3 ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
@ -231,14 +231,14 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX: elif candidate == CAR.EQUINOX:
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3500. * CV.LB_TO_KG
ret.wheelbase = 2.72 ret.wheelbase = 2.72
ret.steerRatio = 14.4 ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER: elif candidate == CAR.TRAILBLAZER:
ret.mass = 1345. + STD_CARGO_KG ret.mass = 1345.
ret.wheelbase = 2.64 ret.wheelbase = 2.64
ret.steerRatio = 16.8 ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4

36
selfdrive/car/honda/interface.py
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@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ 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 HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
@ -89,7 +89,7 @@ class CarInterface(CarInterfaceBase):
eps_modified = True eps_modified = True
if candidate == CAR.CIVIC: if candidate == CAR.CIVIC:
ret.mass = 1326. + STD_CARGO_KG ret.mass = 1326.
ret.wheelbase = 2.70 ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.steerRatio = 15.38 # 10.93 is end-to-end spec
@ -107,7 +107,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = 1326. + STD_CARGO_KG ret.mass = 1326.
ret.wheelbase = 2.70 ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4 ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.steerRatio = 15.38 # 10.93 is end-to-end spec
@ -115,7 +115,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH): elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3279. * CV.LB_TO_KG
ret.wheelbase = 2.83 ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39 ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.steerRatio = 16.33 # 11.82 is spec end-to-end
@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX: elif candidate == CAR.ACURA_ILX:
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3095. * CV.LB_TO_KG
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37 ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.steerRatio = 18.61 # 15.3 is spec end-to-end
@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU): elif candidate in (CAR.CRV, CAR.CRV_EU):
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3572. * CV.LB_TO_KG
ret.wheelbase = 2.62 ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec ret.steerRatio = 16.89 # as spec
@ -147,7 +147,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G: elif candidate == CAR.CRV_5G:
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3410. * CV.LB_TO_KG
ret.wheelbase = 2.66 ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.steerRatio = 16.0 # 12.3 is spec end-to-end
@ -164,7 +164,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID: elif candidate == CAR.CRV_HYBRID:
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg ret.mass = 1667. # mean of 4 models in kg
ret.wheelbase = 2.66 ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.steerRatio = 16.0 # 12.3 is spec end-to-end
@ -174,7 +174,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT: elif candidate == CAR.FIT:
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 2644. * CV.LB_TO_KG
ret.wheelbase = 2.53 ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39 ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06 ret.steerRatio = 13.06
@ -183,7 +183,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED: elif candidate == CAR.FREED:
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3086. * CV.LB_TO_KG
ret.wheelbase = 2.74 ret.wheelbase = 2.74
# the remaining parameters were copied from FIT # the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39 ret.centerToFront = ret.wheelbase * 0.39
@ -193,7 +193,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G): elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3125 * CV.LB_TO_KG
ret.wheelbase = 2.61 ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2 ret.steerRatio = 15.2
@ -206,7 +206,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX: elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3935. * CV.LB_TO_KG
ret.wheelbase = 2.68 ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38 ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec ret.steerRatio = 15.0 # as spec
@ -215,7 +215,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G: elif candidate == CAR.ACURA_RDX_3G:
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4068. * CV.LB_TO_KG
ret.wheelbase = 2.75 ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec ret.steerRatio = 11.95 # as spec
@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.677 ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.mass = 1900. + STD_CARGO_KG ret.mass = 1900.
ret.wheelbase = 3.00 ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec ret.steerRatio = 14.35 # as spec
@ -236,7 +236,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT: elif candidate == CAR.PILOT:
ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight ret.mass = 4278. * CV.LB_TO_KG # average weight
ret.wheelbase = 2.86 ret.wheelbase = 2.86
ret.centerToFront = ret.wheelbase * 0.428 ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 16.0 # as spec ret.steerRatio = 16.0 # as spec
@ -245,7 +245,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE: elif candidate == CAR.RIDGELINE:
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4515. * CV.LB_TO_KG
ret.wheelbase = 3.18 ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec ret.steerRatio = 15.59 # as spec
@ -254,7 +254,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT: elif candidate == CAR.INSIGHT:
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 2987. * CV.LB_TO_KG
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39 ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.steerRatio = 15.0 # 12.58 is spec end-to-end
@ -263,7 +263,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E: elif candidate == CAR.HONDA_E:
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3338.8 * CV.LB_TO_KG
ret.wheelbase = 2.5 ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71 ret.steerRatio = 16.71

74
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, \ 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 EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
@ -62,180 +62,180 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) 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): if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3982. * CV.LB_TO_KG
ret.wheelbase = 2.766 ret.wheelbase = 2.766
# Values from optimizer # Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end ret.steerRatio = 16.55 # 13.8 is spec end-to-end
ret.tireStiffnessFactor = 0.82 ret.tireStiffnessFactor = 0.82
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.mass = 1513. + STD_CARGO_KG ret.mass = 1513.
ret.wheelbase = 2.84 ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate == CAR.SONATA_LF: elif candidate == CAR.SONATA_LF:
ret.mass = 1536. + STD_CARGO_KG ret.mass = 1536.
ret.wheelbase = 2.804 ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.PALISADE: elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG ret.mass = 1999.
ret.wheelbase = 2.90 ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15 ret.steerRatio = 15.6 * 1.15
ret.tireStiffnessFactor = 0.63 ret.tireStiffnessFactor = 0.63
elif candidate == CAR.ELANTRA: elif candidate == CAR.ELANTRA:
ret.mass = 1275. + STD_CARGO_KG ret.mass = 1275.
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127 ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021: elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.mass = 2800. * CV.LB_TO_KG
ret.wheelbase = 2.72 ret.wheelbase = 2.72
ret.steerRatio = 12.9 ret.steerRatio = 12.9
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate == CAR.ELANTRA_HEV_2021: elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.mass = 3017. * CV.LB_TO_KG
ret.wheelbase = 2.72 ret.wheelbase = 2.72
ret.steerRatio = 12.9 ret.steerRatio = 12.9
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate == CAR.HYUNDAI_GENESIS: elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG ret.mass = 2060.
ret.wheelbase = 3.01 ret.wheelbase = 3.01
ret.steerRatio = 16.5 ret.steerRatio = 16.5
ret.minSteerSpeed = 60 * CV.KPH_TO_MS ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
ret.wheelbase = 2.6 ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec ret.steerRatio = 13.42 # Spec
ret.tireStiffnessFactor = 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): 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.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec ret.steerRatio = 13.73 # Spec
ret.tireStiffnessFactor = 0.385 ret.tireStiffnessFactor = 0.385
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER: elif candidate == CAR.VELOSTER:
ret.mass = 2917. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 2917. * CV.LB_TO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15 ret.steerRatio = 13.75 * 1.15
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate == CAR.TUCSON: elif candidate == CAR.TUCSON:
ret.mass = 3520. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3520. * CV.LB_TO_KG
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15 ret.steerRatio = 14.00 * 1.15
ret.tireStiffnessFactor = 0.385 ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
ret.mass = 1630. + STD_CARGO_KG # average ret.mass = 1630. # average
ret.wheelbase = 2.756 ret.wheelbase = 2.756
ret.steerRatio = 16. ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.385 ret.tireStiffnessFactor = 0.385
elif candidate == CAR.SANTA_CRUZ_1ST_GEN: elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim ret.mass = 1870. # weight from Limited trim - the only supported trim
ret.wheelbase = 3.000 ret.wheelbase = 3.000
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
ret.steerRatio = 14.2 ret.steerRatio = 14.2
# Kia # Kia
elif candidate == CAR.KIA_SORENTO: elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG ret.mass = 1985.
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars ret.mass = 3543. * CV.LB_TO_KG # average of all the cars
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 13.6 # average of all the cars ret.steerRatio = 13.6 # average of all the cars
ret.tireStiffnessFactor = 0.385 ret.tireStiffnessFactor = 0.385
if candidate == CAR.KIA_NIRO_PHEV: if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS: elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG ret.mass = 1337.
ret.wheelbase = 2.63 ret.wheelbase = 2.63
ret.steerRatio = 14.56 ret.steerRatio = 14.56
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: 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.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756 ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
if candidate == CAR.KIA_OPTIMA_G4: if candidate == CAR.KIA_OPTIMA_G4:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022): elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
ret.mass = 1825. + STD_CARGO_KG ret.mass = 1825.
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.KIA_FORTE: elif candidate == CAR.KIA_FORTE:
ret.mass = 2878. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 2878. * CV.LB_TO_KG
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_CEED: elif candidate == CAR.KIA_CEED:
ret.mass = 1450. + STD_CARGO_KG ret.mass = 1450.
ret.wheelbase = 2.65 ret.wheelbase = 2.65
ret.steerRatio = 13.75 ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
ret.mass = 3381. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3381. * CV.LB_TO_KG
ret.wheelbase = 2.85 ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
ret.tireStiffnessFactor = 0.5 ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_EV6: elif candidate == CAR.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG ret.mass = 2055
ret.wheelbase = 2.9 ret.wheelbase = 2.9
ret.steerRatio = 16. ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6): elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948 + STD_CARGO_KG ret.mass = 1948
ret.wheelbase = 2.97 ret.wheelbase = 2.97
ret.steerRatio = 14.26 ret.steerRatio = 14.26
ret.tireStiffnessFactor = 0.65 ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only ret.mass = 1767. # SX Prestige trim support only
ret.wheelbase = 2.756 ret.wheelbase = 2.756
ret.steerRatio = 13.6 ret.steerRatio = 13.6
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN): elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
ret.wheelbase = 2.81 ret.wheelbase = 2.81
ret.steerRatio = 13.5 # average of the platforms ret.steerRatio = 13.5 # average of the platforms
if candidate == CAR.KIA_SORENTO_4TH_GEN: if candidate == CAR.KIA_SORENTO_4TH_GEN:
ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3957 * CV.LB_TO_KG
else: else:
ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4537 * CV.LB_TO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087. + STD_CARGO_KG ret.mass = 2087.
ret.wheelbase = 3.09 ret.wheelbase = 3.09
ret.steerRatio = 14.23 ret.steerRatio = 14.23
# Genesis # Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
ret.mass = 2205 + STD_CARGO_KG ret.mass = 2205
ret.wheelbase = 2.9 ret.wheelbase = 2.9
# https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
ret.steerRatio = 12.6 ret.steerRatio = 12.6
elif candidate == CAR.GENESIS_G70: elif candidate == CAR.GENESIS_G70:
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG ret.mass = 1640.0
ret.wheelbase = 2.84 ret.wheelbase = 2.84
ret.steerRatio = 13.56 ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G70_2020: elif candidate == CAR.GENESIS_G70_2020:
ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3673.0 * CV.LB_TO_KG
ret.wheelbase = 2.83 ret.wheelbase = 2.83
ret.steerRatio = 12.9 ret.steerRatio = 12.9
elif candidate == CAR.GENESIS_GV70_1ST_GEN: elif candidate == CAR.GENESIS_GV70_1ST_GEN:
ret.mass = 1950. + STD_CARGO_KG ret.mass = 1950.
ret.wheelbase = 2.87 ret.wheelbase = 2.87
ret.steerRatio = 14.6 ret.steerRatio = 14.6
elif candidate == CAR.GENESIS_G80: elif candidate == CAR.GENESIS_G80:
ret.mass = 2060. + STD_CARGO_KG ret.mass = 2060.
ret.wheelbase = 3.01 ret.wheelbase = 3.01
ret.steerRatio = 16.5 ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90: elif candidate == CAR.GENESIS_G90:
ret.mass = 2200. + STD_CARGO_KG ret.mass = 2200.
ret.wheelbase = 3.15 ret.wheelbase = 3.15
ret.steerRatio = 12.069 ret.steerRatio = 12.069
elif candidate == CAR.GENESIS_GV80: elif candidate == CAR.GENESIS_GV80:
ret.mass = 2258. + STD_CARGO_KG ret.mass = 2258.
ret.wheelbase = 2.95 ret.wheelbase = 2.95
ret.steerRatio = 14.14 ret.steerRatio = 14.14

6
selfdrive/car/interfaces.py
Unescape View File

@ -9,7 +9,7 @@ from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D from common.kalman.simple_kalman import KF1D
from common.numpy_fast import clip from common.numpy_fast import clip
from common.realtime import DT_CTRL from common.realtime import DT_CTRL
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -99,6 +99,10 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate) ret = CarInterfaceBase.get_std_params(candidate)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
# Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
if not ret.notCar:
ret.mass = ret.mass + STD_CARGO_KG
# Set params dependent on values set by the car interface # Set params dependent on values set by the car interface
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor) ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)

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

@ -2,7 +2,7 @@
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
@ -25,19 +25,19 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.CX5, CAR.CX5_2022): if candidate in (CAR.CX5, CAR.CX5_2022):
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3655 * CV.LB_TO_KG
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 15.5 ret.steerRatio = 15.5
elif candidate in (CAR.CX9, CAR.CX9_2021): elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4217 * CV.LB_TO_KG
ret.wheelbase = 3.1 ret.wheelbase = 3.1
ret.steerRatio = 17.6 ret.steerRatio = 17.6
elif candidate == CAR.MAZDA3: elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 2875 * CV.LB_TO_KG
ret.wheelbase = 2.7 ret.wheelbase = 2.7
ret.steerRatio = 14.0 ret.steerRatio = 14.0
elif candidate == CAR.MAZDA6: elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3443 * CV.LB_TO_KG
ret.wheelbase = 2.83 ret.wheelbase = 2.83
ret.steerRatio = 15.5 ret.steerRatio = 15.5

8
selfdrive/car/nissan/interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.nissan.values import CAR from selfdrive.car.nissan.values import CAR
@ -22,17 +22,17 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True ret.radarUnavailable = True
if candidate in (CAR.ROGUE, CAR.XTRAIL): if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610 + STD_CARGO_KG ret.mass = 1610
ret.wheelbase = 2.705 ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC): elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610 + STD_CARGO_KG ret.mass = 1610
ret.wheelbase = 2.705 ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA: elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN # Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG ret.mass = 1492
ret.wheelbase = 2.824 ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44

18
selfdrive/car/subaru/interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
@ -37,7 +37,7 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.ASCENT: if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG ret.mass = 2031.
ret.wheelbase = 2.89 ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5 ret.steerRatio = 13.5
@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA: elif candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG ret.mass = 1568.
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15 ret.steerRatio = 15
@ -59,7 +59,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
elif candidate == CAR.IMPREZA_2020: elif candidate == CAR.IMPREZA_2020:
ret.mass = 1480. + STD_CARGO_KG ret.mass = 1480.
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock ret.steerRatio = 17 # learned, 14 stock
@ -69,7 +69,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022): elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
ret.mass = 1568. + STD_CARGO_KG ret.mass = 1568.
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock ret.steerRatio = 17 # learned, 14 stock
@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023): elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
ret.mass = 1568. + STD_CARGO_KG ret.mass = 1568.
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 ret.steerRatio = 17
@ -87,20 +87,20 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG ret.mass = 1568
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock ret.steerRatio = 20 # learned, 14 stock
elif candidate == CAR.LEGACY_PREGLOBAL: elif candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG ret.mass = 1568
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15 ret.steerActuatorDelay = 0.15
elif candidate == CAR.OUTBACK_PREGLOBAL: elif candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG ret.mass = 1568
ret.wheelbase = 2.67 ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock ret.steerRatio = 20 # learned, 14 stock

4
selfdrive/car/tesla/interface.py
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@ -2,7 +2,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from selfdrive.car.tesla.values import CANBUS, CAR from selfdrive.car.tesla.values import CANBUS, CAR
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.25 ret.steerActuatorDelay = 0.25
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100. + STD_CARGO_KG ret.mass = 2100.
ret.wheelbase = 2.959 ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5 ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0 ret.steerRatio = 15.0

40
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 panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ 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 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, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70 ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec ret.steerRatio = 15.74 # unknown end-to-end spec
ret.tireStiffnessFactor = 0.6371 # hand-tune ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3045. * CV.LB_TO_KG
# Only give steer angle deadzone to for bad angle sensor prius # Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw: for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
@ -61,20 +61,20 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.78 ret.wheelbase = 2.78
ret.steerRatio = 17.4 ret.steerRatio = 17.4
ret.tireStiffnessFactor = 0.5533 ret.tireStiffnessFactor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3340. * CV.LB_TO_KG
elif candidate in (CAR.RAV4, CAR.RAV4H): elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65 ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end ret.steerRatio = 16.88 # 14.5 is spec end-to-end
ret.tireStiffnessFactor = 0.5533 ret.tireStiffnessFactor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3650. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate == CAR.COROLLA: elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70 ret.wheelbase = 2.70
ret.steerRatio = 18.27 ret.steerRatio = 18.27
ret.tireStiffnessFactor = 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 ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2): elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True stop_and_go = True
@ -82,28 +82,28 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16. # 14.8 is spec end-to-end ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035 ret.wheelSpeedFactor = 1.035
ret.tireStiffnessFactor = 0.5533 ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2): elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.63906 ret.wheelbase = 2.63906
ret.steerRatio = 13.6 ret.steerRatio = 13.6
ret.tireStiffnessFactor = 0.7933 ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3300. * CV.LB_TO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.82448 ret.wheelbase = 2.82448
ret.steerRatio = 13.7 ret.steerRatio = 13.7
ret.tireStiffnessFactor = 0.7933 ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0 ret.steerRatio = 16.0
ret.tireStiffnessFactor = 0.8 ret.tireStiffnessFactor = 0.8
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
# starting from 2019, all Avalon variants have stop and go # starting from 2019, all Avalon variants have stop and go
@ -112,14 +112,14 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.82 ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
ret.tireStiffnessFactor = 0.7983 ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, 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): CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
ret.wheelbase = 2.68986 ret.wheelbase = 2.68986
ret.steerRatio = 14.3 ret.steerRatio = 14.3
ret.tireStiffnessFactor = 0.7933 ret.tireStiffnessFactor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0]
@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9 ret.steerRatio = 13.9
ret.tireStiffnessFactor = 0.444 # not optimized yet ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3060. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
@ -148,53 +148,53 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.8702 ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized ret.steerRatio = 16.0 # not optimized
ret.tireStiffnessFactor = 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 ret.mass = 3677. * CV.LB_TO_KG # mean between min and max
elif candidate == CAR.SIENNA: elif candidate == CAR.SIENNA:
stop_and_go = True stop_and_go = True
ret.wheelbase = 3.03 ret.wheelbase = 3.03
ret.steerRatio = 15.5 ret.steerRatio = 15.5
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4590. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC): elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
ret.wheelbase = 2.79908 ret.wheelbase = 2.79908
ret.steerRatio = 13.3 ret.steerRatio = 13.3
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3736.8 * CV.LB_TO_KG
elif candidate == CAR.LEXUS_CTH: elif candidate == CAR.LEXUS_CTH:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.60 ret.wheelbase = 2.60
ret.steerRatio = 18.6 ret.steerRatio = 18.6
ret.tireStiffnessFactor = 0.517 ret.tireStiffnessFactor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max ret.mass = 3108 * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.66 ret.wheelbase = 2.66
ret.steerRatio = 14.7 ret.steerRatio = 14.7
ret.tireStiffnessFactor = 0.444 # not optimized yet ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4070 * CV.LB_TO_KG
elif candidate == CAR.PRIUS_TSS2: elif candidate == CAR.PRIUS_TSS2:
ret.wheelbase = 2.70002 # from toyota online sepc. ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius ret.steerRatio = 13.4 # True steerRatio from older prius
ret.tireStiffnessFactor = 0.6371 # hand-tune ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3115. * CV.LB_TO_KG
elif candidate == CAR.MIRAI: elif candidate == CAR.MIRAI:
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.91 ret.wheelbase = 2.91
ret.steerRatio = 14.8 ret.steerRatio = 14.8
ret.tireStiffnessFactor = 0.8 ret.tireStiffnessFactor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4300. * CV.LB_TO_KG
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
ret.wheelbase = 3.00 ret.wheelbase = 3.00
ret.steerRatio = 14.2 ret.steerRatio = 14.2
ret.tireStiffnessFactor = 0.444 ret.tireStiffnessFactor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4305. * CV.LB_TO_KG
ret.centerToFront = ret.wheelbase * 0.44 ret.centerToFront = ret.wheelbase * 0.44
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR

56
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -1,7 +1,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
@ -101,32 +101,32 @@ class CarInterface(CarInterfaceBase):
# Per-chassis tuning values, override tuning defaults here if desired # Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1: if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG ret.mass = 1733
ret.wheelbase = 2.84 ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1: elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG ret.mass = 2011
ret.wheelbase = 2.98 ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2: elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100 + STD_CARGO_KG ret.mass = 2100
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7: elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG ret.mass = 1397
ret.wheelbase = 2.62 ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7: elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG ret.mass = 1328
ret.wheelbase = 2.71 ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8: elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG ret.mass = 1551
ret.wheelbase = 2.79 ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS: elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503 + STD_CARGO_KG ret.mass = 1503
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.minSteerSpeed = 50 * CV.KPH_TO_MS
@ -134,86 +134,86 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6: elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG ret.mass = 1230
ret.wheelbase = 2.55 ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2: elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639 + STD_CARGO_KG ret.mass = 1639
ret.wheelbase = 2.92 ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1: elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG ret.mass = 1498
ret.wheelbase = 2.69 ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1: elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG ret.mass = 1150
ret.wheelbase = 2.60 ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2: elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG ret.mass = 1715
ret.wheelbase = 2.74 ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2: elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG ret.mass = 1516
ret.wheelbase = 2.79 ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61: elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG ret.mass = 1926
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0 ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1: elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG ret.mass = 1413
ret.wheelbase = 2.63 ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3: elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG ret.mass = 1335
ret.wheelbase = 2.61 ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1: elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG ret.mass = 1205
ret.wheelbase = 2.61 ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2: elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG ret.mass = 1623
ret.wheelbase = 2.68 ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1: elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG ret.mass = 1900
ret.wheelbase = 2.64 ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3: elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG ret.mass = 1227
ret.wheelbase = 2.64 ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4: elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266 + STD_CARGO_KG ret.mass = 1266
ret.wheelbase = 2.56 ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1: elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG ret.mass = 1265
ret.wheelbase = 2.66 ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1: elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG ret.mass = 1278
ret.wheelbase = 2.66 ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1: elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG ret.mass = 1569
ret.wheelbase = 2.79 ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3: elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG ret.mass = 1388
ret.wheelbase = 2.68 ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1: elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG ret.mass = 1192
ret.wheelbase = 2.65 ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3: elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG ret.mass = 1505
ret.wheelbase = 2.84 ret.wheelbase = 2.84
else: else:

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