sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Platform configs: move tire stiffness into config (#31678)

Browse Source 
* first one to open PR

* mazda

* oh it is

* fix gm car specs and create MazdaCarSpecs

* fix

* do honda

* ruff
old-commit-hash: 638aaa9e53
pull/32199/head
Shane Smiskol 1 year ago committed by GitHub
parent 74361d61a3
commit be4375a3ae
6 changed files with 45 additions and 55 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 7
      selfdrive/car/gm/interface.py
  2. 31
      selfdrive/car/gm/values.py
  3. 15
      selfdrive/car/honda/interface.py
  4. 33
      selfdrive/car/honda/values.py
  5. 1
      selfdrive/car/mazda/interface.py
  6. 13
      selfdrive/car/mazda/values.py

7
selfdrive/car/gm/interface.py
Unescape View File

@ -145,15 +145,12 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.steerLimitTimer = 0.4 ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kiBP = [0.]
@ -175,7 +172,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019): elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.tireStiffnessFactor = 1.0
if candidate == CAR.ESCALADE_ESV: if candidate == CAR.ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
@ -186,12 +182,10 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BOLT_EUV: elif candidate == CAR.BOLT_EUV:
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO: elif candidate == CAR.SILVERADO:
ret.tireStiffnessFactor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera. # with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future # TODO: check if this is split by EV/ICE with more platforms in the future
@ -203,7 +197,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER: elif candidate == CAR.TRAILBLAZER:
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

31
selfdrive/car/gm/values.py
Unescape View File

@ -79,6 +79,11 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II) self.footnotes.append(Footnote.OBD_II)
@dataclass(frozen=True, kw_only=True)
class GMCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.444 # not optimized yet
@dataclass @dataclass
class GMPlatformConfig(PlatformConfig): class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@ -88,47 +93,47 @@ class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig( HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017", "HOLDEN ASTRA RS-V BK 2017",
GMCarInfo("Holden Astra 2017"), GMCarInfo("Holden Astra 2017"),
CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
) )
VOLT = GMPlatformConfig( VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017", "CHEVROLET VOLT PREMIER 2017",
GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45), GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
) )
CADILLAC_ATS = GMPlatformConfig( CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018", "CADILLAC ATS Premium Performance 2018",
GMCarInfo("Cadillac ATS Premium Performance 2018"), GMCarInfo("Cadillac ATS Premium Performance 2018"),
CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
) )
MALIBU = GMPlatformConfig( MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017", "CHEVROLET MALIBU PREMIER 2017",
GMCarInfo("Chevrolet Malibu Premier 2017"), GMCarInfo("Chevrolet Malibu Premier 2017"),
CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
) )
ACADIA = GMPlatformConfig( ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018", "GMC ACADIA DENALI 2018",
GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
) )
BUICK_LACROSSE = GMPlatformConfig( BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017", "BUICK LACROSSE 2017",
GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
) )
BUICK_REGAL = GMPlatformConfig( BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018", "BUICK REGAL ESSENCE 2018",
GMCarInfo("Buick Regal Essence 2018"), GMCarInfo("Buick Regal Essence 2018"),
CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
) )
ESCALADE = GMPlatformConfig( ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017", "CADILLAC ESCALADE 2017",
GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
) )
ESCALADE_ESV = GMPlatformConfig( ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016", "CADILLAC ESCALADE ESV 2016",
GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3), GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
) )
ESCALADE_ESV_2019 = GMPlatformConfig( ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019", "CADILLAC ESCALADE ESV 2019",
@ -141,7 +146,7 @@ class CAR(Platforms):
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
], ],
CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
) )
SILVERADO = GMPlatformConfig( SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020", "CHEVROLET SILVERADO 1500 2020",
@ -149,17 +154,17 @@ class CAR(Platforms):
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
], ],
CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3), GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
) )
EQUINOX = GMPlatformConfig( EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019", "CHEVROLET EQUINOX 2019",
GMCarInfo("Chevrolet Equinox 2019-22"), GMCarInfo("Chevrolet Equinox 2019-22"),
CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
) )
TRAILBLAZER = GMPlatformConfig( TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021", "CHEVROLET TRAILBLAZER 2021",
GMCarInfo("Chevrolet Trailblazer 2021-22"), GMCarInfo("Chevrolet Trailblazer 2021-22"),
CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
) )

15
selfdrive/car/honda/interface.py
Unescape View File

@ -111,7 +111,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACCORD: elif candidate == CAR.ACCORD:
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
ret.tireStiffnessFactor = 0.8467
if eps_modified: if eps_modified:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@ -120,12 +119,10 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACURA_ILX: elif candidate == CAR.ACURA_ILX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.72
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.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.tireStiffnessFactor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
@ -139,28 +136,23 @@ class CarInterface(CarInterfaceBase):
else: else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.tireStiffnessFactor = 0.677
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID: elif candidate == CAR.CRV_HYBRID:
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
ret.tireStiffnessFactor = 0.677
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT: elif candidate == CAR.FIT:
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
ret.tireStiffnessFactor = 0.75
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.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.75
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.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.tireStiffnessFactor = 0.5
if candidate == CAR.HRV: if candidate == CAR.HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
@ -168,17 +160,14 @@ 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.tireStiffnessFactor = 0.444
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN: if candidate == CAR.ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
@ -187,22 +176,18 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.PILOT: elif candidate == CAR.PILOT:
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
ret.tireStiffnessFactor = 0.444
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.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
ret.tireStiffnessFactor = 0.444
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.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
ret.tireStiffnessFactor = 0.82
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.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
ret.tireStiffnessFactor = 0.82
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else: else:

33
selfdrive/car/honda/values.py
Unescape View File

@ -117,7 +117,8 @@ class CAR(Platforms):
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
], ],
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end # steerRatio: 11.82 is spec end-to-end
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
CIVIC_BOSCH = HondaBoschPlatformConfig( CIVIC_BOSCH = HondaBoschPlatformConfig(
@ -149,40 +150,42 @@ class CAR(Platforms):
CRV_5G = HondaBoschPlatformConfig( CRV_5G = HondaBoschPlatformConfig(
"HONDA CR-V 2017", "HONDA CR-V 2017",
HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end # steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_ALT_BRAKE,
) )
CRV_HYBRID = HondaBoschPlatformConfig( CRV_HYBRID = HondaBoschPlatformConfig(
"HONDA CR-V HYBRID 2019", "HONDA CR-V HYBRID 2019",
HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
HRV_3G = HondaBoschPlatformConfig( HRV_3G = HondaBoschPlatformConfig(
"HONDA HR-V 2023", "HONDA HR-V 2023",
HondaCarInfo("Honda HR-V 2023", "All"), HondaCarInfo("Honda HR-V 2023", "All"),
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE,
) )
ACURA_RDX_3G = HondaBoschPlatformConfig( ACURA_RDX_3G = HondaBoschPlatformConfig(
"ACURA RDX 2020", "ACURA RDX 2020",
HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_ALT_BRAKE,
) )
INSIGHT = HondaBoschPlatformConfig( INSIGHT = HondaBoschPlatformConfig(
"HONDA INSIGHT 2019", "HONDA INSIGHT 2019",
HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None), dbc_dict('honda_insight_ex_2019_can_generated', None),
) )
HONDA_E = HondaBoschPlatformConfig( HONDA_E = HondaBoschPlatformConfig(
"HONDA E 2020", "HONDA E 2020",
HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
) )
@ -190,14 +193,14 @@ class CAR(Platforms):
ACURA_ILX = HondaNidecPlatformConfig( ACURA_ILX = HondaNidecPlatformConfig(
"ACURA ILX 2016", "ACURA ILX 2016",
HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV = HondaNidecPlatformConfig( CRV = HondaNidecPlatformConfig(
"HONDA CR-V 2016", "HONDA CR-V 2016",
HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
@ -211,14 +214,14 @@ class CAR(Platforms):
FIT = HondaNidecPlatformConfig( FIT = HondaNidecPlatformConfig(
"HONDA FIT 2018", "HONDA FIT 2018",
HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FREED = HondaNidecPlatformConfig( FREED = HondaNidecPlatformConfig(
"HONDA FREED 2020", "HONDA FREED 2020",
HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
@ -232,7 +235,7 @@ class CAR(Platforms):
ODYSSEY = HondaNidecPlatformConfig( ODYSSEY = HondaNidecPlatformConfig(
"HONDA ODYSSEY 2018", "HONDA ODYSSEY 2018",
HondaCarInfo("Honda Odyssey 2018-20"), HondaCarInfo("Honda Odyssey 2018-20"),
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
) )
@ -246,7 +249,7 @@ class CAR(Platforms):
ACURA_RDX = HondaNidecPlatformConfig( ACURA_RDX = HondaNidecPlatformConfig(
"ACURA RDX 2018", "ACURA RDX 2018",
HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
@ -256,14 +259,14 @@ class CAR(Platforms):
HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
], ],
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
RIDGELINE = HondaNidecPlatformConfig( RIDGELINE = HondaNidecPlatformConfig(
"HONDA RIDGELINE 2017", "HONDA RIDGELINE 2017",
HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )

1
selfdrive/car/mazda/interface.py
Unescape View File

@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8 ret.steerLimitTimer = 0.8
ret.tireStiffnessFactor = 0.70 # not optimized yet
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

13
selfdrive/car/mazda/values.py
Unescape View File

@ -32,6 +32,11 @@ class MazdaCarInfo(CarInfo):
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
@dataclass(frozen=True, kw_only=True)
class MazdaCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.7 # not optimized yet
class MazdaFlags(IntFlag): class MazdaFlags(IntFlag):
# Static flags # Static flags
# Gen 1 hardware: same CAN messages and same camera # Gen 1 hardware: same CAN messages and same camera
@ -48,22 +53,22 @@ class CAR(Platforms):
CX5 = MazdaPlatformConfig( CX5 = MazdaPlatformConfig(
"MAZDA CX-5", "MAZDA CX-5",
MazdaCarInfo("Mazda CX-5 2017-21"), MazdaCarInfo("Mazda CX-5 2017-21"),
CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
) )
CX9 = MazdaPlatformConfig( CX9 = MazdaPlatformConfig(
"MAZDA CX-9", "MAZDA CX-9",
MazdaCarInfo("Mazda CX-9 2016-20"), MazdaCarInfo("Mazda CX-9 2016-20"),
CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
) )
MAZDA3 = MazdaPlatformConfig( MAZDA3 = MazdaPlatformConfig(
"MAZDA 3", "MAZDA 3",
MazdaCarInfo("Mazda 3 2017-18"), MazdaCarInfo("Mazda 3 2017-18"),
CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
) )
MAZDA6 = MazdaPlatformConfig( MAZDA6 = MazdaPlatformConfig(
"MAZDA 6", "MAZDA 6",
MazdaCarInfo("Mazda 6 2017-20"), MazdaCarInfo("Mazda 6 2017-20"),
CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
) )
CX9_2021 = MazdaPlatformConfig( CX9_2021 = MazdaPlatformConfig(
"MAZDA CX-9 2021", "MAZDA CX-9 2021",

Write Preview
Loading…
Cancel
Save