#!/usr/bin/env python3 from cereal import car from math import fabs from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): params = CarControllerParams() return params.ACCEL_MIN, params.ACCEL_MAX # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer. @staticmethod def get_steer_feedforward_volt(desired_angle, v_ego): desired_angle *= 0.02904609 sigmoid = desired_angle / (1 + fabs(desired_angle)) return 0.10006696 * sigmoid * (v_ego + 3.12485927) @staticmethod def get_steer_feedforward_acadia(desired_angle, v_ego): desired_angle *= 0.09760208 sigmoid = desired_angle / (1 + fabs(desired_angle)) return 0.04689655 * sigmoid * (v_ego + 10.028217) def get_steer_feedforward_function(self): if self.CP.carFingerprint == CAR.VOLT: return self.get_steer_feedforward_volt elif self.CP.carFingerprint == CAR.ACADIA: return self.get_steer_feedforward_acadia else: return CarInterfaceBase.get_steer_feedforward_default @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off ret.radarOffCan = False # For ASCM, radar exists ret.transmissionType = TransmissionType.automatic # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM ret.networkLocation = NetworkLocation.gateway # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} # Presence of a camera on the object bus is ok. # Have to go to read_only if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.openpilotLongitudinalControl = True tire_stiffness_factor = 0.444 # not optimized yet # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 7 * CV.MPH_TO_MS 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.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.longitudinalTuning.kpBP = [5., 35.] ret.longitudinalTuning.kpV = [2.4, 1.5] ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS if candidate == CAR.VOLT: ret.transmissionType = TransmissionType.direct ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh 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.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: ret.mass = 1496. + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: ret.mass = 1363. + STD_CARGO_KG ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 ret.steerRatio = 15.7 elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.86 ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters ret.steerRatio = 14.4 # guess for tourx ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx elif candidate == CAR.CADILLAC_ATS: ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.centerToFront = ret.wheelbase * 0.49 elif candidate == CAR.ESCALADE_ESV: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 2739. + STD_CARGO_KG ret.wheelbase = 3.302 ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.49 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 tire_stiffness_factor = 1.0 # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) return ret # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_loopback) if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS) # Suppress resume button if we're resuming from stop so we don't adjust speed. if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill): be.type = ButtonType.unknown ret.buttonEvents = [be] events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], pcm_enable=self.CP.pcmCruise) if ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) if ret.cruiseState.standstill: events.add(EventName.resumeRequired) if ret.vEgo < self.CP.minSteerSpeed: events.add(car.CarEvent.EventName.belowSteerSpeed) # The ECM will fault if resume triggers an enable while speed is unset (unset is greater than 70 m/s) if c.hudControl.setSpeed >= 70: events.add(car.CarEvent.EventName.resumeBlocked) # handle button presses events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise)) ret.events = events.to_msg() return ret def apply(self, c): return self.CC.update(c, self.CS)