From b8ab21bd64bab9dd7f743117f622e53c46704309 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 3 Dec 2021 14:57:53 +0100
Subject: [PATCH] add CarParams.wheelSpeedFactor (#23079)

* add CarParams.wheelSpeedFactor

* Fudge speed for Lexus RX

* should have been the TSS2 model

* bump cereal

* refactor into function

* update refs
old-commit-hash: e6180738fdc4c55ba913905e6591de5435966eb1
---
 cereal                                   |  2 +-
 selfdrive/car/chrysler/carstate.py       | 11 +++++++----
 selfdrive/car/ford/carstate.py           | 12 ++++++++----
 selfdrive/car/gm/carstate.py             | 11 ++++++-----
 selfdrive/car/honda/carstate.py          | 17 +++++++++--------
 selfdrive/car/honda/interface.py         |  4 ++++
 selfdrive/car/honda/values.py            | 10 ----------
 selfdrive/car/hyundai/carstate.py        | 10 ++++++----
 selfdrive/car/interfaces.py              | 11 +++++++++++
 selfdrive/car/mazda/carstate.py          | 10 ++++++----
 selfdrive/car/nissan/carstate.py         | 11 ++++++-----
 selfdrive/car/subaru/carstate.py         | 10 ++++++----
 selfdrive/car/toyota/carstate.py         | 10 ++++++----
 selfdrive/car/toyota/interface.py        |  3 ++-
 selfdrive/car/volkswagen/carstate.py     | 10 ++++++----
 selfdrive/test/process_replay/ref_commit |  2 +-
 16 files changed, 85 insertions(+), 59 deletions(-)

diff --git a/cereal b/cereal
index 596d34e77a..c4a1c9fa00 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 596d34e77ac380f965f0f5f96f59d622c9e814b1
+Subproject commit c4a1c9fa00c5915fbdf7f6c29f5968dfc1be0630
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index ba85a89c3e..ab3125b011 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -31,10 +31,13 @@ class CarState(CarStateBase):
 
     ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
 
-    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"]
-    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"]
-    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"]
-    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"]
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      unit=1,
+    )
     ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = not ret.vEgoRaw > 0.001
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 100d472409..a621ab16ab 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -10,10 +10,14 @@ WHEEL_RADIUS = 0.33
 class CarState(CarStateBase):
   def update(self, cp):
     ret = car.CarState.new_message()
-    ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"] * WHEEL_RADIUS
-    ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"] * WHEEL_RADIUS
-    ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"] * WHEEL_RADIUS
-    ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"] * WHEEL_RADIUS
+
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"],
+      cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"],
+      cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"],
+      cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"],
+      unit=WHEEL_RADIUS,
+    )
     ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = not ret.vEgoRaw > 0.001
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 00f25c5fdb..e4d6448348 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,6 +1,5 @@
 from cereal import car
 from common.numpy_fast import mean
-from selfdrive.config import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
@@ -21,10 +20,12 @@ class CarState(CarStateBase):
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
 
-    ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
+      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
+    )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index b9deaedf12..65a9d8fd44 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -5,7 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
+from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 
 TransmissionType = car.CarParams.TransmissionType
 
@@ -213,16 +213,17 @@ class CarState(CarStateBase):
       self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
-    speed_factor = SPEED_FACTOR.get(self.CP.carFingerprint, 1.)
-    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
-    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
-    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
-    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
-    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+    )
+    v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
 
     # blend in transmission speed at low speed, since it has more low speed accuracy
     v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
-    ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
+    ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
     ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 5ae167a160..5a5aea9f92 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -143,6 +143,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
       tire_stiffness_factor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_5G:
       stop_and_go = True
@@ -160,6 +161,7 @@ class CarInterface(CarInterfaceBase):
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
       tire_stiffness_factor = 0.677
+      ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_HYBRID:
       stop_and_go = True
@@ -170,6 +172,7 @@ 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
       tire_stiffness_factor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.FIT:
       stop_and_go = False
@@ -201,6 +204,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       tire_stiffness_factor = 0.5
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+      ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.ACURA_RDX:
       stop_and_go = False
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e1698562df..340509c563 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1428,16 +1428,6 @@ STEER_THRESHOLD = {
   CAR.CRV_EU: 400,
 }
 
-# TODO: is this real?
-SPEED_FACTOR = {
-  # default is 1, overrides go here
-  CAR.CRV: 1.025,
-  CAR.CRV_5G: 1.025,
-  CAR.CRV_EU: 1.025,
-  CAR.CRV_HYBRID: 1.025,
-  CAR.HRV: 1.025,
-}
-
 HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
 HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                     CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 4db775bea5..e889f24fc9 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -28,10 +28,12 @@ class CarState(CarStateBase):
 
     ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
 
-    ret.wheelSpeeds.fl = cp.vl["WHL_SPD11"]["WHL_SPD_FL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = cp.vl["WHL_SPD11"]["WHL_SPD_FR"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = cp.vl["WHL_SPD11"]["WHL_SPD_RL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = cp.vl["WHL_SPD11"]["WHL_SPD_RR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
+      cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
+      cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
+      cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
+    )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 336c1ee6c2..487fcab8c7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -78,6 +78,7 @@ class CarInterfaceBase():
     ret.steerMaxBP = [0.]
     ret.steerMaxV = [1.]
     ret.minSteerSpeed = 0.
+    ret.wheelSpeedFactor = 1.0
 
     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
@@ -210,6 +211,16 @@ class CarStateBase:
     v_ego_x = self.v_ego_kf.update(v_ego_raw)
     return float(v_ego_x[0]), float(v_ego_x[1])
 
+  def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
+    factor = unit * self.CP.wheelSpeedFactor
+
+    wheelSpeeds = car.CarState.WheelSpeeds.new_message()
+    wheelSpeeds.fl = fl * factor
+    wheelSpeeds.fr = fr * factor
+    wheelSpeeds.rl = rl * factor
+    wheelSpeeds.rr = rr * factor
+    return wheelSpeeds
+
   def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
     """Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
     iterations"""
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 4140a4e079..7ebf60c96b 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -20,10 +20,12 @@ class CarState(CarStateBase):
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
-    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["FL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["FR"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["RL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["RR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["FL"],
+      cp.vl["WHEEL_SPEEDS"]["FR"],
+      cp.vl["WHEEL_SPEEDS"]["RL"],
+      cp.vl["WHEEL_SPEEDS"]["RR"],
+    )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index a4019b538c..05191feedf 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -35,11 +35,12 @@ class CarState(CarStateBase):
     elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
 
-    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
-
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"],
+      cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"],
+      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"],
+      cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"],
+    )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
 
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index e324037766..1f56f09ff7 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -23,10 +23,12 @@ class CarState(CarStateBase):
     else:
       ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
 
-    ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]["FL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]["FR"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = cp.vl["Wheel_Speeds"]["RL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = cp.vl["Wheel_Speeds"]["RR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["Wheel_Speeds"]["FL"],
+      cp.vl["Wheel_Speeds"]["FR"],
+      cp.vl["Wheel_Speeds"]["RL"],
+      cp.vl["Wheel_Speeds"]["RR"],
+    )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 1327cb36dc..7ce5907b9b 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -41,10 +41,12 @@ class CarState(CarStateBase):
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
       ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
 
-    ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
+      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+    )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 755ba52481..97a20f9df4 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -65,7 +65,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_B)
 
-
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
       ret.wheelbase = 2.79
@@ -81,6 +80,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.5533  # not optimized yet
       ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
+      ret.wheelSpeedFactor = 1.035
 
     elif candidate == CAR.LEXUS_RXH_TSS2:
       stop_and_go = True
@@ -89,6 +89,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_E)
+      ret.wheelSpeedFactor = 1.035
 
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index b6a799e36f..97e3094fa5 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -20,10 +20,12 @@ class CarState(CarStateBase):
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
     # Update vehicle speed and acceleration from ABS wheel speeds.
-    ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.fr = pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rl = pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"] * CV.KPH_TO_MS
-    ret.wheelSpeeds.rr = pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"] * CV.KPH_TO_MS
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
+      pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
+      pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
+      pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
+    )
 
     ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index e0187495ff..640e6864da 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6ab94cfcfe183a09e75e9f8b67a7ee2a2d3630df
\ No newline at end of file
+4d55b3974e099f2bd6e77ea12e0e0830af051041
\ No newline at end of file