VW MQB: Fahrzeuglängsbeschleunigungssteuerungseinrichtung (#22963)

* can I kick it?

* bumpity bump bump

* bump panda

* everybody's gotta be special

* attempt at improving stopping/starting

* reduce lateral feedforward

* tweak gradient and comfort bands

* oops

* accel from the dept of redundancy dept

* bump opendbc

* jerk limiter not needed and causing problems

* don't leave stop/start flags hung when not enabled

* reduce comfort band with lead car

* borrow decel comp from HKG

* align stopping state thresholds

* (re)try letting PI clean up some of this

* bump panda

* tweaks and comments

* elide superfluous import

* VW MQB: Longitudinal prereqs

* gate this too

* bump CI

* cleanup

* more cleanup; require gateway integration

* don't run long state/actuators unless sending message

* setpoint visibility in instrument cluster

* show fixed lead car if lead visible

* hold my beer?

* tuning

* the code is darkest before the refactor

* a little more

* set freewheel and stop distance correctly

* rounding issue maybe?

* ACC_04 Charisma profiles and HUD alerts

* fix ACC_04 counter, fix gradient and accel bugs

* revert tuning change in upstream focused branch

* need 0.5m/s to leave

* reduced braking when not absolutely needed

* oops

* bump panda

* match opendbc to master

* filter ACC_13, disable secondary accel

* bump panda

* bump panda

* bump opendbc and panda

* startAccel is deprecated

* testing manual trans min engage speeds

* pass stock ACC type to TSK

* bump panda

* bump opendbc

* bump opendbc

* test hax for Brake alert

* remove ACC_13 with matching panda bump

* fix submodule refs

* update long control safety param name

* bump panda

* actuator delay corrected by Mk1 eyeball

* a little more

* tweak stop/start thresholds

* Revert "tweak stop/start thresholds"

This reverts commit 60abd57d20.

* more lag reduction

* bump opendbc

* support both analog and digital clusters

* tuning adjustments

* bump opendbc and panda

* accept two button types for resume

* support separate set and resume

* bump panda

* #24706

* partial revert 6b93ac27

* fixes

* one more

* refactor all the things

* follow experimental long refactor

* fill in ACC hud status

* temp force E2E availability

* start cleaning up

* comment touchup

* gimme some comfort baby

* experiment

* SnG me maybe?

* a little more rollout

* is this why I'm not leaving?

* turns out you need startAccel to leave

* try without ACC_04

* cleanup unused variables

* temp hack to standstill handling

* temp hack to button handling

* trim rollout distance with slower vEgoStopping

* ultra fat comfort band due to noisy E2E actuator

* I like big changes and I cannot lie

* remove lead car display for now

* cleanup, drives somewhat better

* partial FtS/basic support

* diff reduction

* not needed

* more cleanup

* oops

* more cleanup

* restore lead car visible for PQ

* bump panda

* better enable button solution

* redundant

* OP long on *all* the things

* OP long on all the things *sometimes*

* docs generator a little TOO clever

* solve starting-state a different way

* try that again

* bump panda

* oops

* follow DBC refactor

* retry CI

* signal name changed

* sync with custom enable button branch

* oops

* more follow refactor

* bump panda

* sync opendbc to master

* bump panda

* updated comments

* light P, no I

* bump panda

* bump panda again

* add openpilot long test_models route

* bump panda with replay route

* temporarily disable experimental long for merge

* bump panda to master

* resolve conflict?

* now can we go to head?

* explicit length check

* update refs

Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

panda

@@ -1 +1 @@
-Subproject commit 997e328074e4b356c514e8d5e6570f151465d9e8
+Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b

selfdrive/car/tests/routes.py

@@ -172,7 +172,8 @@ routes = [
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
   CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
+  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
   CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
   CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
   CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),

selfdrive/car/volkswagen/carstate.py

@@ -105,6 +105,7 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
+    self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
     if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
@@ -480,11 +481,13 @@ class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
     ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
+    ("ACC_Typ", "ACC_06"),                       # Basic vs F2S vs SNG
     ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
     ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
     ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
   ]
   fwd_radar_checks = [
+    ("ACC_06", 50),                                 # From J428 ACC radar control module
     ("ACC_10", 50),                                 # From J428 ACC radar control module
     ("ACC_02", 17),                                 # From J428 ACC radar control module
   ]

selfdrive/car/volkswagen/interface.py

@@ -32,14 +32,13 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
-      if 0x440 in fingerprint[0]:  # Getriebe_1
+      if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_1, or empty FP for CI/docs generation
         ret.transmissionType = TransmissionType.automatic
       else:
         ret.transmissionType = TransmissionType.manual
 
       if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
         ret.networkLocation = NetworkLocation.gateway
-        ret.experimentalLongitudinalAvailable = True
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
 
@@ -56,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
-      if 0xAD in fingerprint[0]:  # Getriebe_11
+      if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_11, or empty FP for CI/docs generation
         ret.transmissionType = TransmissionType.automatic
       elif 0x187 in fingerprint[0]:  # EV_Gearshift
         ret.transmissionType = TransmissionType.direct
@@ -82,7 +81,8 @@ class CarInterface(CarInterfaceBase):
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
-    if experimental_long and candidate in PQ_CARS:
+    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False  # Disabled for now
+    if experimental_long and False:  # Disabled for now
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
@@ -90,7 +90,11 @@ class CarInterface(CarInterfaceBase):
         ret.minEnableSpeed = 4.5
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
+    ret.stoppingControl = True
+    ret.startingState = True
+    ret.startAccel = 1.0
+    ret.vEgoStarting = 1.0
+    ret.vEgoStopping = 1.0
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
 

selfdrive/car/volkswagen/mqbcan.py

@@ -36,3 +36,73 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa
   })
 
   return packer.make_can_msg("GRA_ACC_01", bus, values)
+
+
+def acc_control_value(main_switch_on, acc_faulted, long_active):
+  if acc_faulted:
+    acc_control = 6
+  elif long_active:
+    acc_control = 3
+  elif main_switch_on:
+    acc_control = 2
+  else:
+    acc_control = 0
+
+  return acc_control
+
+
+def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+  # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
+  return acc_control_value(main_switch_on, acc_faulted, long_active)
+
+
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+  commands = []
+
+  acc_06_values = {
+    "ACC_Typ": acc_type,
+    "ACC_Status_ACC": acc_control,
+    "ACC_StartStopp_Info": enabled,
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
+
+  if starting:
+    acc_hold_type = 4  # hold release / startup
+  elif esp_hold:
+    acc_hold_type = 3  # hold standby
+  elif stopping:
+    acc_hold_type = 1  # hold request
+  else:
+    acc_hold_type = 0
+
+  acc_07_values = {
+    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Freilauf_Info": 2 if enabled else 0,
+    "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_Anforderung_HMS": acc_hold_type,
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
+
+  return commands
+
+
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+  values = {
+    "ACC_Status_Anzeige": acc_hud_status,
+    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
+    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Display_Prio": 3,
+    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+  }
+
+  return packer.make_can_msg("ACC_02", bus, values)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fc3a044c567a8702ed1500d745170c365dd6b3d4
+dd41df756253a9e711eb0fd0c3e007284f600ee8