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more lateralTuning

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pull/33208/head
Shane Smiskol 1 year ago
parent 419c143062
commit d40da13e71
10 changed files with 65 additions and 57 deletions
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  1. 2
      selfdrive/car/chrysler/interface.py
  2. 10
      selfdrive/car/data_structures.py
  3. 38
      selfdrive/car/gm/interface.py
  4. 49
      selfdrive/car/honda/interface.py
  5. 2
      selfdrive/car/hyundai/interface.py
  6. 3
      selfdrive/car/interfaces.py
  7. 2
      selfdrive/car/mazda/interface.py
  8. 2
      selfdrive/car/subaru/interface.py
  9. 2
      selfdrive/car/toyota/interface.py
  10. 12
      selfdrive/car/volkswagen/interface.py

2
selfdrive/car/chrysler/interface.py
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@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)

10
selfdrive/car/data_structures.py
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@ -98,10 +98,16 @@ class CarParams:
tireStiffnessFront: float = auto_field() # [N/rad] front tire coeff of stiff
tireStiffnessRear: float = auto_field() # [N/rad] rear tire coeff of stiff
longitudinalTuning: 'LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
# lateralParams: LateralParams = auto_field()
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())
@dataclass
@apply_auto_fields
class LateralParams:
torqueBP: list[int] = auto_field()
torqueV: list[int] = auto_field()
@dataclass
@apply_auto_fields
class LateralPIDTuning:

38
selfdrive/car/gm/interface.py
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@ -140,9 +140,9 @@ class CarInterface(CarInterfaceBase):
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.00]]
ret.lateralTuning.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.4
@ -150,39 +150,39 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.lateralTuning.kpBP = [0., 40.]
ret.lateralTuning.kpV = [0., 0.17]
ret.lateralTuning.kiBP = [0.]
ret.lateralTuning.kiV = [0.]
ret.lateralTuning.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.BUICK_LACROSSE:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.CADILLAC_ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
if candidate == CAR.CADILLAC_ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.kf = 0.000045
else:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.CHEVROLET_BOLT_EUV:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@ -190,14 +190,14 @@ class CarInterface(CarInterfaceBase):
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.CHEVROLET_EQUINOX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
return ret

49
selfdrive/car/honda/interface.py
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@ -2,6 +2,7 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.data_structures import CarParams
from openpilot.selfdrive.car.helpers import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
@ -32,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "honda"
CAN = CanBus(ret, fingerprint)
@ -68,8 +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.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
ret.lateralTuning.kf = 0.00006 # conservative feed-forward
if candidate in HONDA_BOSCH:
ret.longitudinalActuatorDelay = 0.5 # s
@ -94,30 +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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.1]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.09]]
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_5G:
@ -126,43 +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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.21], [0.07]]
else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.06]]
elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
ret.lateralTuning.kpV, ret.lateralTuning.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:
@ -170,19 +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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.lateralTuning.kpV, ret.lateralTuning.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.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
else:
raise ValueError(f"unsupported car {candidate}")

2
selfdrive/car/hyundai/interface.py
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@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
if candidate == CAR.KIA_OPTIMA_G4_FL:
ret.steerActuatorDelay = 0.2

3
selfdrive/car/interfaces.py
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@ -178,7 +178,7 @@ class CarInterfaceBase(ABC):
# returns a set of default params to avoid repetition in car specific params
@staticmethod
def get_std_params(candidate) -> CarParams:
def get_std_params(candidate: str) -> CarParams:
ret = CarParams()
ret.carFingerprint = candidate
@ -189,6 +189,7 @@ class CarInterfaceBase(ABC):
# standard ALC params
ret.tireStiffnessFactor = 1.0
ret.steerControlType = CarParams.SteerControlType.torque
ret.lateralParams = CarParams.LateralPIDTuning()
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0

2
selfdrive/car/mazda/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
if candidate not in (CAR.MAZDA_CX5_2022, ):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

2
selfdrive/car/subaru/interface.py
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@ -38,7 +38,7 @@ class CarInterface(CarInterfaceBase):
if ret.flags & SubaruFlags.LKAS_ANGLE:
ret.steerControlType = car.CarParams.SteerControlType.angle
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller

2
selfdrive/car/toyota/interface.py
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@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase):
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
ret.steerActuatorDelay = 0.25
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
CarInterfaceBase.configure_torque_tune(candidate, ret, steering_angle_deadzone_deg=0.2)
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
stop_and_go = True

12
selfdrive/car/volkswagen/interface.py
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@ -72,14 +72,14 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
if ret.flags & VolkswagenFlags.PQ:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
CarInterfaceBase.configure_torque_tune(candidate, ret)
else:
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
ret.lateralTuning.kpBP = [0.]
ret.lateralTuning.kiBP = [0.]
ret.lateralTuning.kf = 0.00006
ret.lateralTuning.kpV = [0.6]
ret.lateralTuning.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle

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