You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
135 lines
5.6 KiB
135 lines
5.6 KiB
from cereal import car
|
|
from common.realtime import DT_CTRL
|
|
from common.numpy_fast import interp
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.car import apply_std_steer_torque_limits
|
|
from selfdrive.car.gm import gmcan
|
|
from selfdrive.car.gm.values import DBC, CanBus
|
|
from opendbc.can.packer import CANPacker
|
|
|
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|
|
|
|
|
class CarControllerParams():
|
|
def __init__(self):
|
|
self.STEER_MAX = 300
|
|
self.STEER_STEP = 2 # how often we update the steer cmd
|
|
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
|
|
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
|
|
self.MIN_STEER_SPEED = 3.
|
|
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
|
|
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
|
|
self.STEER_DRIVER_FACTOR = 100 # from dbc
|
|
self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
|
|
|
|
# Takes case of "Service Adaptive Cruise" and "Service Front Camera"
|
|
# dashboard messages.
|
|
self.ADAS_KEEPALIVE_STEP = 100
|
|
self.CAMERA_KEEPALIVE_STEP = 100
|
|
|
|
# pedal lookups, only for Volt
|
|
MAX_GAS = 3072 # Only a safety limit
|
|
ZERO_GAS = 2048
|
|
MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
|
|
self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
|
|
self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
|
|
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
|
|
self.BRAKE_LOOKUP_BP = [-1., -0.25]
|
|
self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
|
|
|
|
|
|
class CarController():
|
|
def __init__(self, dbc_name, CP, VM):
|
|
self.start_time = 0.
|
|
self.apply_steer_last = 0
|
|
self.lka_icon_status_last = (False, False)
|
|
self.steer_rate_limited = False
|
|
|
|
self.params = CarControllerParams()
|
|
|
|
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
|
|
self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
|
|
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
|
|
|
|
def update(self, enabled, CS, frame, actuators,
|
|
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
|
|
|
|
P = self.params
|
|
|
|
# Send CAN commands.
|
|
can_sends = []
|
|
|
|
# STEER
|
|
if (frame % P.STEER_STEP) == 0:
|
|
lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
|
|
if lkas_enabled:
|
|
new_steer = actuators.steer * P.STEER_MAX
|
|
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
|
|
self.steer_rate_limited = new_steer != apply_steer
|
|
else:
|
|
apply_steer = 0
|
|
|
|
self.apply_steer_last = apply_steer
|
|
idx = (frame // P.STEER_STEP) % 4
|
|
|
|
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
|
|
|
|
# GAS/BRAKE
|
|
# no output if not enabled, but keep sending keepalive messages
|
|
# treat pedals as one
|
|
final_pedal = actuators.gas - actuators.brake
|
|
|
|
if not enabled:
|
|
# Stock ECU sends max regen when not enabled.
|
|
apply_gas = P.MAX_ACC_REGEN
|
|
apply_brake = 0
|
|
else:
|
|
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
|
|
apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
|
|
|
|
# Gas/regen and brakes - all at 25Hz
|
|
if (frame % 4) == 0:
|
|
idx = (frame // 4) % 4
|
|
|
|
at_full_stop = enabled and CS.out.standstill
|
|
near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
|
|
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
|
|
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
|
|
|
|
# Send dashboard UI commands (ACC status), 25hz
|
|
if (frame % 4) == 0:
|
|
send_fcw = hud_alert == VisualAlert.fcw
|
|
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
|
|
|
|
# Radar needs to know current speed and yaw rate (50hz),
|
|
# and that ADAS is alive (10hz)
|
|
time_and_headlights_step = 10
|
|
tt = frame * DT_CTRL
|
|
|
|
if frame % time_and_headlights_step == 0:
|
|
idx = (frame // time_and_headlights_step) % 4
|
|
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
|
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
|
|
|
speed_and_accelerometer_step = 2
|
|
if frame % speed_and_accelerometer_step == 0:
|
|
idx = (frame // speed_and_accelerometer_step) % 4
|
|
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
|
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
|
|
|
if frame % P.ADAS_KEEPALIVE_STEP == 0:
|
|
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
|
|
|
# Show green icon when LKA torque is applied, and
|
|
# alarming orange icon when approaching torque limit.
|
|
# If not sent again, LKA icon disappears in about 5 seconds.
|
|
# Conveniently, sending camera message periodically also works as a keepalive.
|
|
lka_active = CS.lkas_status == 1
|
|
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
|
lka_icon_status = (lka_active, lka_critical)
|
|
if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
|
|
steer_alert = hud_alert == VisualAlert.steerRequired
|
|
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
|
|
self.lka_icon_status_last = lka_icon_status
|
|
|
|
return can_sends
|
|
|