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Toyota: Prius V 2017 support (#23636)

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* Add Toyota Prius Alpha support

* Fix opendbc link

* Update interface.py

* v

* revert opendbc

Co-authored-by: CT921 <tim.chen242@gmail.com>
Co-authored-by: 【TIM】 <90225659+CT921@users.noreply.github.com>
old-commit-hash: 2240b802be
commatwo_master
Adeeb Shihadeh 3 years ago committed by GitHub
parent 9363436646
commit ed3eef90b1
5 changed files with 40 additions and 14 deletions
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  1. 1
      RELEASES.md
  2. 1
      docs/CARS.md
  3. 13
      selfdrive/car/toyota/interface.py
  4. 38
      selfdrive/car/toyota/values.py
  5. 1
      selfdrive/test/test_routes.py

1
RELEASES.md
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@ -7,6 +7,7 @@ Version 0.8.13 (2022-XX-XX)
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Subaru Impreza 2020 support thanks to martinl!
* Toyota Avalon 2022 support thanks to sshane!
* Toyota Prius v 2017 support thanks to CT921!
Version 0.8.12 (2021-12-15)
========================

1
docs/CARS.md
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@ -64,6 +64,7 @@
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | Prius v 2017 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |

13
selfdrive/car/toyota/interface.py
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@ -26,6 +26,8 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
if candidate == CAR.PRIUS:
stop_and_go = True
ret.wheelbase = 2.70
@ -36,6 +38,13 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
ret.steerActuatorDelay = 0.3
elif candidate == CAR.PRIUS_V:
ret.wheelbase = 2.78
ret.steerRatio = 17.8
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
@ -45,7 +54,6 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
elif candidate == CAR.COROLLA:
stop_and_go = False
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
@ -94,7 +102,6 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
stop_and_go = False
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
@ -149,7 +156,6 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate == CAR.LEXUS_IS:
stop_and_go = False
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
@ -157,7 +163,6 @@ class CarInterface(CarInterfaceBase):
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_RC:
stop_and_go = False
ret.wheelbase = 2.73050
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444

38
selfdrive/car/toyota/values.py
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@ -46,6 +46,7 @@ class CAR:
HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018"
HIGHLANDERH_TSS2 = "TOYOTA HIGHLANDER HYBRID 2020"
PRIUS = "TOYOTA PRIUS 2017"
PRIUS_V = "TOYOTA PRIUS v 2017"
PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021"
RAV4 = "TOYOTA RAV4 2017"
RAV4H = "TOYOTA RAV4 HYBRID 2017"
@ -73,25 +74,24 @@ class CAR:
STATIC_DSU_MSGS = [
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'),
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'),
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
]
FW_VERSIONS = {
CAR.AVALON: {
(Ecu.esp, 0x7b0, None): [
@ -983,6 +983,23 @@ FW_VERSIONS = {
b'8646F4705200\x00\x00\x00\x00',
],
},
CAR.PRIUS_V: {
(Ecu.esp, 0x7b0, None): [
b'F152647280\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x0234781000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881514705100\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F4703300\x00\x00\x00\x00',
],
},
CAR.RAV4: {
(Ecu.engine, 0x7e0, None): [
b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1647,6 +1664,7 @@ DBC = {
CAR.RAV4H: dbc_dict('toyota_tssp_hybrid_generated', 'toyota_adas'),
CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_adas'),
CAR.PRIUS_V: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
CAR.COROLLA: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
CAR.LEXUS_RC: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_RX: dbc_dict('toyota_tssp_pt_generated', 'toyota_adas'),

1
selfdrive/test/test_routes.py
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@ -144,6 +144,7 @@ routes = [
TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),

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