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354 lines
17 KiB
354 lines
17 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from common.conversions import Conversions as CV
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from common.numpy_fast import interp
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from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
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from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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from selfdrive.car.disable_ecu import disable_ecu
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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TransmissionType = car.CarParams.TransmissionType
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BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
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CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
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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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if CP.carFingerprint in HONDA_BOSCH:
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return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
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elif CP.enableGasInterceptor:
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return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
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else:
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# NIDECs don't allow acceleration near cruise_speed,
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# so limit limits of pid to prevent windup
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ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
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ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
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return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "honda"
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if candidate in HONDA_BOSCH:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
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ret.radarUnavailable = True
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES AEB!
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# If Bosch radarless, this blocks ACC messages from the camera
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ret.experimentalLongitudinalAvailable = True
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ret.openpilotLongitudinalControl = experimental_long
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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else:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
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ret.enableGasInterceptor = 0x201 in fingerprint[0]
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ret.openpilotLongitudinalControl = True
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ret.pcmCruise = not ret.enableGasInterceptor
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if candidate == CAR.CRV_5G:
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ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
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# Detect Bosch cars with new HUD msgs
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if any(0x33DA in f for f in fingerprint.values()):
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ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
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# Accord 1.5T CVT has different gearbox message
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if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
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ret.transmissionType = TransmissionType.cvt
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# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
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# which improves controls quality as it removes the steering column torsion from feedback.
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# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
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# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
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if candidate in HONDA_BOSCH:
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ret.longitudinalTuning.kpV = [0.25]
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ret.longitudinalTuning.kiV = [0.05]
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ret.longitudinalActuatorDelayUpperBound = 0.5 # s
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
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else:
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# default longitudinal tuning for all hondas
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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eps_modified = False
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for fw in car_fw:
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if fw.ecu == "eps" and b"," in fw.fwVersion:
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eps_modified = True
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if candidate == CAR.CIVIC:
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ret.mass = CivicParams.MASS
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ret.wheelbase = CivicParams.WHEELBASE
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ret.centerToFront = CivicParams.CENTER_TO_FRONT
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ret.steerRatio = 15.38 # 10.93 is end-to-end spec
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if eps_modified:
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# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
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# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
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# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
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# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
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# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
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# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
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tire_stiffness_factor = 1.
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elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
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ret.mass = CivicParams.MASS
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ret.wheelbase = CivicParams.WHEELBASE
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ret.centerToFront = CivicParams.CENTER_TO_FRONT
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ret.steerRatio = 15.38 # 10.93 is end-to-end spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 1.
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate in (CAR.ACCORD, CAR.ACCORDH):
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ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 16.33 # 11.82 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.8467
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if eps_modified:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.ACURA_ILX:
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ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.37
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ret.steerRatio = 18.61 # 15.3 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.72
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate in (CAR.CRV, CAR.CRV_EU):
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ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.62
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.89 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.444
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.CRV_5G:
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ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.0 # 12.3 is spec end-to-end
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if eps_modified:
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# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
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# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
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# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
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tire_stiffness_factor = 0.677
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.CRV_HYBRID:
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ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.0 # 12.3 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.677
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.wheelSpeedFactor = 1.025
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elif candidate == CAR.FIT:
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ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.53
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 13.06
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.75
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate == CAR.FREED:
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ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.74
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# the remaining parameters were copied from FIT
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 13.06
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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tire_stiffness_factor = 0.75
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate in (CAR.HRV, CAR.HRV_3G):
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ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.61
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 15.2
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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tire_stiffness_factor = 0.5
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if candidate == CAR.HRV:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.wheelSpeedFactor = 1.025
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
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elif candidate == CAR.ACURA_RDX:
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ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.68
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ret.centerToFront = ret.wheelbase * 0.38
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ret.steerRatio = 15.0 # as spec
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tire_stiffness_factor = 0.444
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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elif candidate == CAR.ACURA_RDX_3G:
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ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.75
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 11.95 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
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tire_stiffness_factor = 0.677
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elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
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ret.mass = 1900. + STD_CARGO_KG
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ret.wheelbase = 3.00
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 14.35 # as spec
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
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if candidate == CAR.ODYSSEY_CHN:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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elif candidate == CAR.PILOT:
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ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight
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ret.wheelbase = 2.86
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ret.centerToFront = ret.wheelbase * 0.428
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ret.steerRatio = 16.0 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.444
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate == CAR.RIDGELINE:
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ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 3.18
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 15.59 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.444
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
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elif candidate == CAR.INSIGHT:
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ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 15.0 # 12.58 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.HONDA_E:
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ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.5
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 16.71
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
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else:
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raise ValueError(f"unsupported car {candidate}")
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# These cars use alternate user brake msg (0x1BE)
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if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
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# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
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if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
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if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS
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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. Otherwise, add 0.5 mph margin to not
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# conflict with PCM acc
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ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
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ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
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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.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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return ret
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@staticmethod
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def init(CP, logcan, sendcan):
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if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
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disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
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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, self.cp_body)
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buttonEvents = []
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
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buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
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if self.CS.cruise_setting != self.CS.prev_cruise_setting:
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buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
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ret.buttonEvents = buttonEvents
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# events
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events = self.create_common_events(ret, pcm_enable=False)
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if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if self.CP.pcmCruise:
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# we engage when pcm is active (rising edge)
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if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
|
|
events.add(EventName.pcmEnable)
|
|
elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
|
|
# it can happen that car cruise disables while comma system is enabled: need to
|
|
# keep braking if needed or if the speed is very low
|
|
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
|
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
|
|
events.add(EventName.speedTooLow)
|
|
else:
|
|
events.add(EventName.cruiseDisabled)
|
|
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
|
|
events.add(EventName.manualRestart)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
# pass in a car.CarControl
|
|
# to be called @ 100hz
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|
|
|