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357 lines
16 KiB
357 lines
16 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.params import Params
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from selfdrive.config import Conversions as CV
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from selfdrive.car.hyundai.values import CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
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from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
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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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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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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=[]): # pylint: disable=dangerous-default-value
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "hyundai"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
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ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1]
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# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
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ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar") and candidate in [CAR.SONATA, CAR.SONATA_HYBRID, CAR.PALISADE, CAR.SANTA_FE, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020]
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerRateCost = 0.5
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ret.steerLimitTimer = 0.4
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tire_stiffness_factor = 1.
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ret.stoppingControl = True
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ret.vEgoStopping = 1.0
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ret.longitudinalTuning.kpV = [0.1]
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ret.longitudinalTuning.kiV = [0.0]
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ret.stopAccel = 0.0
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ret.startAccel = 0.0
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ret.longitudinalActuatorDelayUpperBound = 1.0 # s
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if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.766
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# Values from optimizer
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ret.steerRatio = 16.55 # 13.8 is spec end-to-end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
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elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1513. + STD_CARGO_KG
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ret.wheelbase = 2.84
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ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
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tire_stiffness_factor = 0.65
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.SONATA_LF:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 4497. * CV.LB_TO_KG
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ret.wheelbase = 2.804
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ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.PALISADE:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1999. + STD_CARGO_KG
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ret.wheelbase = 2.90
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ret.steerRatio = 15.6 * 1.15
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tire_stiffness_factor = 0.63
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1275. + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
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tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.ELANTRA_2021:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
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ret.wheelbase = 2.72
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ret.steerRatio = 12.9
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tire_stiffness_factor = 0.65
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.ELANTRA_HEV_2021:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
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ret.wheelbase = 2.72
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ret.steerRatio = 12.9
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tire_stiffness_factor = 0.65
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.HYUNDAI_GENESIS:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 2060. + STD_CARGO_KG
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ret.wheelbase = 3.01
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ret.steerRatio = 16.5
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ret.lateralTuning.init('indi')
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ret.lateralTuning.indi.innerLoopGainBP = [0.]
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ret.lateralTuning.indi.innerLoopGainV = [3.5]
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ret.lateralTuning.indi.outerLoopGainBP = [0.]
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ret.lateralTuning.indi.outerLoopGainV = [2.0]
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ret.lateralTuning.indi.timeConstantBP = [0.]
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ret.lateralTuning.indi.timeConstantV = [1.4]
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ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
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ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
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ret.minSteerSpeed = 60 * CV.KPH_TO_MS
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elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 * 1.15 # Spec
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 # Spec
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.VELOSTER:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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ret.wheelbase = 2.80
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ret.steerRatio = 13.75 * 1.15
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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# Kia
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elif candidate == CAR.KIA_SORENTO:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1985. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1737. + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
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tire_stiffness_factor = 0.385
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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if candidate == CAR.KIA_NIRO_HEV:
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.KIA_SELTOS:
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ret.mass = 1337. + STD_CARGO_KG
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ret.wheelbase = 2.63
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ret.steerRatio = 14.56
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tire_stiffness_factor = 1
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ret.lateralTuning.init('indi')
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ret.lateralTuning.indi.innerLoopGainBP = [0.]
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ret.lateralTuning.indi.innerLoopGainV = [4.]
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ret.lateralTuning.indi.outerLoopGainBP = [0.]
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ret.lateralTuning.indi.outerLoopGainV = [3.]
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ret.lateralTuning.indi.timeConstantBP = [0.]
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ret.lateralTuning.indi.timeConstantV = [1.4]
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ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
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ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
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elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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ret.wheelbase = 2.80
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ret.steerRatio = 13.75
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_STINGER:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1825. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_FORTE:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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ret.wheelbase = 2.80
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ret.steerRatio = 13.75
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_CEED:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1450. + STD_CARGO_KG
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ret.wheelbase = 2.65
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ret.steerRatio = 13.75
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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elif candidate == CAR.KIA_K5_2021:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3228. * CV.LB_TO_KG
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ret.wheelbase = 2.85
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ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
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# Genesis
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elif candidate == CAR.GENESIS_G70:
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ret.lateralTuning.init('indi')
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ret.lateralTuning.indi.innerLoopGainBP = [0.]
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ret.lateralTuning.indi.innerLoopGainV = [2.5]
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ret.lateralTuning.indi.outerLoopGainBP = [0.]
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ret.lateralTuning.indi.outerLoopGainV = [3.5]
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ret.lateralTuning.indi.timeConstantBP = [0.]
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ret.lateralTuning.indi.timeConstantV = [1.4]
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ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
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ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
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ret.steerActuatorDelay = 0.1
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ret.mass = 1640.0 + STD_CARGO_KG
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ret.wheelbase = 2.84
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ret.steerRatio = 13.56
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elif candidate == CAR.GENESIS_G70_2020:
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ret.lateralTuning.pid.kf = 0.
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
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ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.steerRatio = 12.9
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elif candidate == CAR.GENESIS_G80:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 2060. + STD_CARGO_KG
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ret.wheelbase = 3.01
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ret.steerRatio = 16.5
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
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elif candidate == CAR.GENESIS_G90:
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ret.mass = 2200
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ret.wheelbase = 3.15
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ret.steerRatio = 12.069
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
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# these cars require a special panda safety mode due to missing counters and checksums in the messages
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if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
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CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER,
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CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]:
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assert not ret.openpilotLongitudinalControl # Legacy safety mode doesn't support longitudinal
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
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# set appropriate safety param for gas signal
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if candidate in HYBRID_CAR:
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ret.safetyConfigs[0].safetyParam = 2
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elif candidate in EV_CAR:
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ret.safetyConfigs[0].safetyParam = 1
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ret.centerToFront = ret.wheelbase * 0.4
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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 = 0x58b in fingerprint[0]
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
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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.openpilotLongitudinalControl:
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disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01')
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise)
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if self.CS.brake_error:
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events.add(EventName.brakeUnavailable)
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if self.CS.park_brake:
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events.add(EventName.parkBrake)
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if self.CS.CP.openpilotLongitudinalControl:
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buttonEvents = []
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.unknown
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if self.CS.cruise_buttons != 0:
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be.pressed = True
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but = self.CS.cruise_buttons
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else:
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be.pressed = False
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but = self.CS.prev_cruise_buttons
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if but == Buttons.RES_ACCEL:
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be.type = ButtonType.accelCruise
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elif but == Buttons.SET_DECEL:
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be.type = ButtonType.decelCruise
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elif but == Buttons.GAP_DIST:
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be.type = ButtonType.gapAdjustCruise
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elif but == Buttons.CANCEL:
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be.type = ButtonType.cancel
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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for b in ret.buttonEvents:
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# do enable on both accel and decel buttons
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if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
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events.add(EventName.buttonEnable)
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# do disable on button down
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if b.type == ButtonType.cancel and b.pressed:
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events.add(EventName.buttonCancel)
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# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
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if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
|
self.low_speed_alert = True
|
|
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
|
self.low_speed_alert = False
|
|
if self.low_speed_alert:
|
|
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
self.CS.out = ret.as_reader()
|
|
return self.CS.out
|
|
|
|
def apply(self, c):
|
|
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
|
c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.setSpeed, c.hudControl.leftLaneVisible,
|
|
c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
|
self.frame += 1
|
|
return can_sends
|
|
|