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can keep all this the same now!

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pull/33208/head
Shane Smiskol 11 months ago
parent 6e6ab9fdf9
commit ce290a07df
3 changed files with 33 additions and 97 deletions
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  1. 62
      selfdrive/car/data_structures.py
  2. 46
      selfdrive/car/honda/interface.py
  3. 22
      selfdrive/car/interfaces.py

62
selfdrive/car/data_structures.py
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@ -100,11 +100,6 @@ class CarParams:
longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams())
# lateralTuning: 'CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
# lateralTuningWhich: type['CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning'] = field(default_factory=lambda: CarParams.LateralPIDTuning)
# lateralPIDTuning: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
# lateralTorqueTuning: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning())
lateralTuning: 'CarParams.LateralTuning' = field(default_factory=lambda: CarParams.LateralTuning())
@dataclass
@ -232,60 +227,3 @@ class CarParams:
programmedFuelInjection = auto()
debug = auto()
import typing
# CP = CarParams()
#
# print(CP.lateralTuningWhich is CarParams.LateralPIDTuning)
# print(CP.lateralTuningWhich is CarParams.LateralTorqueTuning)
# print()
# CP.lateralTuningWhich = CarParams.LateralTorqueTuning
# print(CP.lateralTuningWhich is CarParams.LateralPIDTuning)
# print(CP.lateralTuningWhich is CarParams.LateralTorqueTuning)
#
#
# T = typing.TypeVar('T')
#
# @dataclass
# class UnionField(typing.Generic[T]):
# value: T
#
# def init(self, value: T):
# self.value = value
#
# def which(self):
# return type(self.value).__name__
#
#
# lateral_tuning: UnionField[CarParams.LateralTorqueTuning | CarParams.LateralPIDTuning] = UnionField(CarParams.LateralPIDTuning)
#
# lateral_tuning.init(CarParams().LateralPIDTuning())
# if isinstance(lateral_tuning.value, CarParams.LateralTorqueTuning):
# print(lateral_tuning.value.useSteeringAngle) # This will work without mypy errors
T = typing.TypeVar('T')
# def which(value: object, typ: typing.Type[T]) -> bool:
# return isinstance(value, typ)
which = isinstance
lateralTuning: CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning = field(default_factory=lambda: CarParams.LateralPIDTuning())
if isinstance(lateralTuning, CarParams.LateralTorqueTuning):
lateralTuning.useSteeringAngle = True
# @dataclass
# @apply_auto_fields
# class UnionDataclass:
# which: str = 'pid'
#
# pid: CarParams.LateralPIDTuning = auto_field()
# torque: CarParams.LateralTorqueTuning = auto_field()

46
selfdrive/car/honda/interface.py
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@ -69,8 +69,8 @@ class CarInterface(CarInterfaceBase):
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
ret.lateralTuning.kf = 0.00006 # conservative feed-forward
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
if candidate in HONDA_BOSCH:
ret.longitudinalActuatorDelay = 0.5 # s
@ -95,30 +95,30 @@ class CarInterface(CarInterfaceBase):
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.1]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[1.1], [0.33]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
if eps_modified:
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.09]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_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.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_5G:
@ -127,43 +127,43 @@ class CarInterface(CarInterfaceBase):
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.21], [0.07]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.64], [0.192]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_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.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_FIT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
if candidate == CAR.HONDA_HRV:
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.16], [0.025]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.kpV, ret.lateralTuning.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:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.06]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.28], [0.08]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.HONDA_ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
else:
@ -171,19 +171,19 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.HONDA_PILOT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.HONDA_RIDGELINE:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.HONDA_INSIGHT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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.lateralTuning.kpV, ret.lateralTuning.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:
raise ValueError(f"unsupported car {candidate}")

22
selfdrive/car/interfaces.py
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@ -212,20 +212,18 @@ class CarInterfaceBase(ABC):
return ret
@staticmethod
def configure_torque_tune(candidate: str, ret: CarParams, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
def configure_torque_tune(candidate: str, tune: CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0, use_steering_angle: bool = True):
params = get_torque_params()[candidate]
tune = CarParams.LateralTorqueTuning()
tune.useSteeringAngle = use_steering_angle
tune.kp = 1.0
tune.kf = 1.0
tune.ki = 0.1
tune.friction = params['FRICTION']
tune.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.latAccelOffset = 0.0
tune.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
ret.lateralTuning = tune
tune.init('torque')
tune.torque.useSteeringAngle = use_steering_angle
tune.torque.kp = 1.0
tune.torque.kf = 1.0
tune.torque.ki = 0.1
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
@abstractmethod
def _update(self, c: car.CarControl) -> car.CarState:

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