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267 lines
12 KiB
267 lines
12 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.conversions import Conversions as CV
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from panda import Panda
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from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
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from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "toyota"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
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ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
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if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerLimitTimer = 0.4
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ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
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stop_and_go = False
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steering_angle_deadzone_deg = 0.0
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
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if candidate == CAR.PRIUS:
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stop_and_go = True
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ret.wheelbase = 2.70
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ret.steerRatio = 15.74 # unknown end-to-end spec
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tire_stiffness_factor = 0.6371 # hand-tune
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ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
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# Only give steer angle deadzone to for bad angle sensor prius
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for fw in car_fw:
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if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
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steering_angle_deadzone_deg = 1.0
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
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elif candidate == CAR.PRIUS_V:
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stop_and_go = True
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ret.wheelbase = 2.78
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ret.steerRatio = 17.4
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tire_stiffness_factor = 0.5533
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ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
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elif candidate in (CAR.RAV4, CAR.RAV4H):
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stop_and_go = True if (candidate in CAR.RAV4H) else False
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ret.wheelbase = 2.65
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ret.steerRatio = 16.88 # 14.5 is spec end-to-end
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tire_stiffness_factor = 0.5533
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ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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elif candidate == CAR.COROLLA:
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ret.wheelbase = 2.70
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ret.steerRatio = 18.27
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
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stop_and_go = True
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ret.wheelbase = 2.79
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ret.steerRatio = 16. # 14.8 is spec end-to-end
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ret.wheelSpeedFactor = 1.035
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tire_stiffness_factor = 0.5533
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ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
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elif candidate in (CAR.CHR, CAR.CHRH):
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stop_and_go = True
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ret.wheelbase = 2.63906
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ret.steerRatio = 13.6
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tire_stiffness_factor = 0.7933
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ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
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elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
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stop_and_go = True
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ret.wheelbase = 2.82448
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ret.steerRatio = 13.7
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tire_stiffness_factor = 0.7933
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ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
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set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
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elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
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stop_and_go = True
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ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
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ret.steerRatio = 16.0
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tire_stiffness_factor = 0.8
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ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
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elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
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# starting from 2019, all Avalon variants have stop and go
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# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
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stop_and_go = candidate != CAR.AVALON
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ret.wheelbase = 2.82
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ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
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tire_stiffness_factor = 0.7983
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ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
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elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
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stop_and_go = True
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ret.wheelbase = 2.68986
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.7933
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ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
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set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
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# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
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# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
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for fw in car_fw:
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if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
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set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
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break
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elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
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stop_and_go = True
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ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
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ret.steerRatio = 13.9
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
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elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
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stop_and_go = True
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ret.wheelbase = 2.8702
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ret.steerRatio = 16.0 # not optimized
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
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elif candidate == CAR.SIENNA:
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stop_and_go = True
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ret.wheelbase = 3.03
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ret.steerRatio = 15.5
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tire_stiffness_factor = 0.444
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ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
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elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
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ret.wheelbase = 2.79908
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ret.steerRatio = 13.3
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tire_stiffness_factor = 0.444
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ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
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elif candidate == CAR.LEXUS_CTH:
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stop_and_go = True
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ret.wheelbase = 2.60
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ret.steerRatio = 18.6
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tire_stiffness_factor = 0.517
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ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
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elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
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stop_and_go = True
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ret.wheelbase = 2.66
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ret.steerRatio = 14.7
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
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elif candidate == CAR.PRIUS_TSS2:
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stop_and_go = True
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ret.wheelbase = 2.70002 # from toyota online sepc.
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ret.steerRatio = 13.4 # True steerRatio from older prius
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tire_stiffness_factor = 0.6371 # hand-tune
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ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
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elif candidate == CAR.MIRAI:
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stop_and_go = True
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ret.wheelbase = 2.91
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ret.steerRatio = 14.8
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tire_stiffness_factor = 0.8
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ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
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elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
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stop_and_go = True
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ret.wheelbase = 3.00
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ret.steerRatio = 14.2
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tire_stiffness_factor = 0.444
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ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
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set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
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ret.centerToFront = ret.wheelbase * 0.44
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
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# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
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smartDsu = 0x2FF in fingerprint[0]
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# In TSS2 cars the camera does long control
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found_ecus = [fw.ecu for fw in car_fw]
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ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
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ret.enableGasInterceptor = 0x201 in fingerprint[0]
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# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
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ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
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if not ret.openpilotLongitudinalControl:
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ret.autoResumeSng = False
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
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# we can't use the fingerprint to detect this reliably, since
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# the EV gas pedal signal can take a couple seconds to appear
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if candidate in EV_HYBRID_CAR:
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ret.flags |= ToyotaFlags.HYBRID.value
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
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if candidate in TSS2_CAR or ret.enableGasInterceptor:
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set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
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if candidate in TSS2_CAR:
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ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
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else:
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set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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# events
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events = self.create_common_events(ret)
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if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
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events.add(EventName.lowSpeedLockout)
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if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
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events.add(EventName.belowEngageSpeed)
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if c.actuators.accel > 0.3:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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if ret.vEgo < 0.001:
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# while in standstill, send a user alert
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events.add(EventName.manualRestart)
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ret.events = events.to_msg()
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return ret
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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return self.CC.update(c, self.CS)
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