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179 lines
8.4 KiB
179 lines
8.4 KiB
from cereal import car
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from openpilot.common.numpy_fast import clip
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from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.toyota import toyotacan
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from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
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CarControllerParams, ToyotaFlags, \
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UNSUPPORTED_DSU_CAR
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from opendbc.can.packer import CANPacker
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SteerControlType = car.CarParams.SteerControlType
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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# LKA limits
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# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
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MAX_STEER_RATE = 100 # deg/s
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MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut
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# EPS allows user torque above threshold for 50 frames before permanently faulting
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MAX_USER_TORQUE = 500
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# LTA limits
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# EPS ignores commands above this angle and causes PCS to fault
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MAX_LTA_ANGLE = 94.9461 # deg
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MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.params = CarControllerParams(self.CP)
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self.frame = 0
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self.last_steer = 0
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self.last_angle = 0
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self.alert_active = False
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self.last_standstill = False
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self.standstill_req = False
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self.steer_rate_counter = 0
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self.distance_button = 0
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self.packer = CANPacker(dbc_name)
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self.gas = 0
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self.accel = 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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pcm_cancel_cmd = CC.cruiseControl.cancel
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lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
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# *** control msgs ***
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can_sends = []
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# *** steer torque ***
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new_steer = int(round(actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
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# >100 degree/sec steering fault prevention
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self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
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self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
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if not lat_active:
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apply_steer = 0
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# *** steer angle ***
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if self.CP.steerControlType == SteerControlType.angle:
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# If using LTA control, disable LKA and set steering angle command
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apply_steer = 0
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apply_steer_req = False
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if self.frame % 2 == 0:
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# EPS uses the torque sensor angle to control with, offset to compensate
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apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
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# Angular rate limit based on speed
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apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgoRaw, self.params)
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if not lat_active:
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apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
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self.last_angle = clip(apply_angle, -MAX_LTA_ANGLE, MAX_LTA_ANGLE)
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self.last_steer = apply_steer
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# toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2;
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# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
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# on consecutive messages
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can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req))
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# STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier
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if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
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lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
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# cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above
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# the threshold, to limit max lateral acceleration and for driver torque blending respectively.
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full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
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abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE)
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# TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec
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torque_wind_down = 100 if lta_active and full_torque_condition else 0
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can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle,
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lta_active, self.frame // 2, torque_wind_down))
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# *** gas and brake ***
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pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
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# on entering standstill, send standstill request
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if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
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self.standstill_req = True
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if CS.pcm_acc_status != 8:
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# pcm entered standstill or it's disabled
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self.standstill_req = False
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self.last_standstill = CS.out.standstill
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# handle UI messages
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fcw_alert = hud_control.visualAlert == VisualAlert.fcw
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steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
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# we can spam can to cancel the system even if we are using lat only control
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if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
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lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
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# Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
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if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
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desired_distance = 4 - hud_control.leadDistanceBars
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if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
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self.distance_button = not self.distance_button
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else:
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self.distance_button = 0
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# Lexus IS uses a different cancellation message
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if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
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can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
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elif self.CP.openpilotLongitudinalControl:
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can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
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self.distance_button))
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self.accel = pcm_accel_cmd
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else:
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can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
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# *** hud ui ***
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if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
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# ui mesg is at 1Hz but we send asap if:
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# - there is something to display
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# - there is something to stop displaying
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send_ui = False
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if ((fcw_alert or steer_alert) and not self.alert_active) or \
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(not (fcw_alert or steer_alert) and self.alert_active):
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send_ui = True
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self.alert_active = not self.alert_active
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elif pcm_cancel_cmd:
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# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
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send_ui = True
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if self.frame % 20 == 0 or send_ui:
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can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
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hud_control.rightLaneVisible, hud_control.leftLaneDepart,
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hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
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if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
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can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
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# *** static msgs ***
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for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
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if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
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can_sends.append(make_can_msg(addr, vl, bus))
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# keep radar disabled
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if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
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can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
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new_actuators = actuators.as_builder()
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new_actuators.steer = apply_steer / self.params.STEER_MAX
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new_actuators.steerOutputCan = apply_steer
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new_actuators.steeringAngleDeg = self.last_angle
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new_actuators.accel = self.accel
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new_actuators.gas = self.gas
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self.frame += 1
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return new_actuators, can_sends
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