Hyundai: Car Port for Ioniq Plug-in Hybrid 2019 (#24089)

* Add car port: Hyundai Ioniq Plug-In Hybrid 2019

* Add additiona FW version

* Add test route

* Add test route - fix typo

* Update CARS.md and RELEASES.md

* remove from legacy safety mode

* Update carcontroller.py

* Update to INDI lateral tune

* update spacing and capitalization

* generate docs

* Update selfdrive/car/hyundai/carcontroller.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>

RELEASES.md

@@ -2,6 +2,7 @@ Version 0.8.14 (2022-0X-XX)
 ========================
  * bigmodel!
  * comma body support
+ * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
  * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
  * Toyota Alphard Hybrid 2021 support
  * Toyota Avalon Hybrid 2022 support

docs/CARS.md

@@ -187,6 +187,7 @@ How We Rate The Cars
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

selfdrive/car/hyundai/interface.py

@@ -138,6 +138,20 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
       if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
+    elif candidate == CAR.IONIQ_PHEV_2019:
+      ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
+      ret.wheelbase = 2.7
+      ret.steerRatio = 13.73
+      ret.lateralTuning.init('indi')
+      ret.lateralTuning.indi.innerLoopGainBP = [0.]
+      ret.lateralTuning.indi.innerLoopGainV = [2.5]
+      ret.lateralTuning.indi.outerLoopGainBP = [0.]
+      ret.lateralTuning.indi.outerLoopGainV = [3.5]
+      ret.lateralTuning.indi.timeConstantBP = [0.]
+      ret.lateralTuning.indi.timeConstantV = [1.4]
+      ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
+      ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
+      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG

selfdrive/car/hyundai/values.py

@@ -39,6 +39,7 @@ class CAR:
   IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
   IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
   IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
+  IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
   IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
@@ -89,6 +90,7 @@ CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
   CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA"),
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019"),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020"),
+  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", "SCC + LKAS"),
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21"),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020"),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-19"),
@@ -242,6 +244,24 @@ FW_VERSIONS = {
       b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
     ],
   },
+  CAR.IONIQ_PHEV_2019: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00AE  MDPS C 1.00 1.07 56310/G2501 4AEHC107',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\x00\x00\x00\x00',
+    ],
+  },
   CAR.IONIQ_PHEV: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
@@ -1137,13 +1157,13 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON_DIESEL_2019},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
   "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON_DIESEL_2019},
 }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022}  # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1161,6 +1181,7 @@ DBC = {
   CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
   CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
   CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
+  CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
   CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),

selfdrive/car/tests/routes.py

@@ -89,6 +89,7 @@ routes = [
   TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON_DIESEL_2019),
   TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
   TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
+  TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
   TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
   TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
   TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD),