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250 lines
11 KiB
250 lines
11 KiB
import numpy as np
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from opendbc.can import CANPacker
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from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
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from opendbc.car.honda import hondacan
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from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
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HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
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from opendbc.car.interfaces import CarControllerBase
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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LongCtrlState = structs.CarControl.Actuators.LongControlState
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def compute_gb_honda_bosch(accel, speed):
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# TODO returns 0s, is unused
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return 0.0, 0.0
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def compute_gb_honda_nidec(accel, speed):
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creep_brake = 0.0
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creep_speed = 2.3
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creep_brake_value = 0.15
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if speed < creep_speed:
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creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
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gb = float(accel) / 4.8 - creep_brake
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return np.clip(gb, 0.0, 1.0), np.clip(-gb, 0.0, 1.0)
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def compute_gas_brake(accel, speed, fingerprint):
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if fingerprint in HONDA_BOSCH:
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return compute_gb_honda_bosch(accel, speed)
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else:
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return compute_gb_honda_nidec(accel, speed)
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# TODO not clear this does anything useful
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def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint):
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# hyst params
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brake_hyst_on = 0.02 # to activate brakes exceed this value
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brake_hyst_off = 0.005 # to deactivate brakes below this value
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brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
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# *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
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if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
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brake = 0.
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braking = brake > 0.
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# for small brake oscillations within brake_hyst_gap, don't change the brake command
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if brake == 0.:
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brake_steady = 0.
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elif brake > brake_steady + brake_hyst_gap:
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brake_steady = brake - brake_hyst_gap
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elif brake < brake_steady - brake_hyst_gap:
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brake_steady = brake + brake_hyst_gap
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brake = brake_steady
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return brake, braking, brake_steady
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def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
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pump_on = False
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# reset pump timer if:
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# - there is an increment in brake request
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# - we are applying steady state brakes and we haven't been running the pump
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# for more than 20s (to prevent pressure bleeding)
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if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
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last_pump_ts = ts
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# once the pump is on, run it for at least 0.2s
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if ts - last_pump_ts < 0.2 and apply_brake > 0:
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pump_on = True
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return pump_on, last_pump_ts
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def process_hud_alert(hud_alert):
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alert_fcw = False
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alert_steer_required = False
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# Make sure FCW is prioritized over steering required
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# TODO: implement separate available LDW alert
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if hud_alert == VisualAlert.fcw:
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alert_fcw = True
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elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
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alert_steer_required = True
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return alert_fcw, alert_steer_required
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP):
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super().__init__(dbc_names, CP)
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self.packer = CANPacker(dbc_names[Bus.pt])
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self.params = CarControllerParams(CP)
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self.CAN = hondacan.CanBus(CP)
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self.braking = False
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self.brake_steady = 0.
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self.brake_last = 0.
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self.apply_brake_last = 0
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self.last_pump_ts = 0.
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self.stopping_counter = 0
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self.accel = 0.0
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self.speed = 0.0
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self.gas = 0.0
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self.brake = 0.0
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self.last_torque = 0.0
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
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pcm_cancel_cmd = CC.cruiseControl.cancel
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if CC.longActive:
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accel = actuators.accel
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gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
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else:
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accel = 0.0
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gas, brake = 0.0, 0.0
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# *** rate limit steer ***
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limited_torque = rate_limit(actuators.torque, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
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self.params.STEER_DELTA_UP * DT_CTRL)
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self.last_torque = limited_torque
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# *** apply brake hysteresis ***
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pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
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CS.out.vEgo, self.CP.carFingerprint)
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# *** rate limit after the enable check ***
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self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
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# vehicle hud display, wait for one update from 10Hz 0x304 msg
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alert_fcw, alert_steer_required = process_hud_alert(hud_control.visualAlert)
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# **** process the car messages ****
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# steer torque is converted back to CAN reference (positive when steering right)
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apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
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self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
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# Send CAN commands
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can_sends = []
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# tester present - w/ no response (keeps radar disabled)
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if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
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if self.frame % 10 == 0:
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can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
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# Send steering command.
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can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
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# wind brake from air resistance decel at high speed
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wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
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# all of this is only relevant for HONDA NIDEC
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max_accel = np.interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
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# TODO this 1.44 is just to maintain previous behavior
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pcm_speed_BP = [-wind_brake,
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-wind_brake * (3 / 4),
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0.0,
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0.5]
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# The Honda ODYSSEY seems to have different PCM_ACCEL
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# msgs, is it other cars too?
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if not CC.longActive:
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pcm_speed = 0.0
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pcm_accel = int(0.0)
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elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
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pcm_speed_V = [0.0,
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np.clip(CS.out.vEgo - 3.0, 0.0, 100.0),
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np.clip(CS.out.vEgo + 0.0, 0.0, 100.0),
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np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
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pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
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pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
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else:
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pcm_speed_V = [0.0,
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np.clip(CS.out.vEgo - 2.0, 0.0, 100.0),
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np.clip(CS.out.vEgo + 2.0, 0.0, 100.0),
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np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
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pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
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pcm_accel = int(np.clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
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if not self.CP.openpilotLongitudinalControl:
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if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD:
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can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
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# If using stock ACC, spam cancel command to kill gas when OP disengages.
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if pcm_cancel_cmd:
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can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
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elif CC.cruiseControl.resume:
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can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
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else:
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# Send gas and brake commands.
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if self.frame % 2 == 0:
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ts = self.frame * DT_CTRL
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if self.CP.carFingerprint in HONDA_BOSCH:
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self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
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self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
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stopping = actuators.longControlState == LongCtrlState.stopping
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self.stopping_counter = self.stopping_counter + 1 if stopping else 0
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can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
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self.stopping_counter, self.CP.carFingerprint))
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else:
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apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
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apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
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pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
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pcm_override = True
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can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
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pcm_override, pcm_cancel_cmd, alert_fcw,
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self.CP.carFingerprint, CS.stock_brake))
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self.apply_brake_last = apply_brake
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self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
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# Send dashboard UI commands.
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if self.frame % 10 == 0:
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if self.CP.openpilotLongitudinalControl:
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# On Nidec, this also controls longitudinal positive acceleration
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can_sends.append(hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel,
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hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud))
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steering_available = CS.out.cruiseState.available and CS.out.vEgo > self.CP.minSteerSpeed
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reduced_steering = CS.out.steeringPressed
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can_sends.extend(hondacan.create_lkas_hud(self.packer, self.CAN.lkas, self.CP, hud_control, CC.latActive,
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steering_available, reduced_steering, alert_steer_required, CS.lkas_hud))
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if self.CP.openpilotLongitudinalControl:
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# TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
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if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
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can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
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if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
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can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
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if self.CP.carFingerprint not in HONDA_BOSCH:
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self.speed = pcm_speed
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self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
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new_actuators = actuators.as_builder()
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new_actuators.speed = self.speed
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new_actuators.accel = self.accel
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new_actuators.gas = self.gas
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new_actuators.brake = self.brake
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new_actuators.torque = self.last_torque
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new_actuators.torqueOutputCan = apply_torque
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self.frame += 1
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return new_actuators, can_sends
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