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.
319 lines
13 KiB
319 lines
13 KiB
from common.numpy_fast import interp
|
|
from common.kalman.simple_kalman import KF1D
|
|
from selfdrive.can.parser import CANParser, CANDefine
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
|
|
|
|
def parse_gear_shifter(gear, vals):
|
|
|
|
val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
|
|
'D': 'drive', 'S': 'sport', 'L': 'low'}
|
|
try:
|
|
return val_to_capnp[vals[gear]]
|
|
except KeyError:
|
|
return "unknown"
|
|
|
|
|
|
def calc_cruise_offset(offset, speed):
|
|
# euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
|
|
# constraints to solve for _K0, _K1, _K2 are:
|
|
# - speed = 0m/s, out = -0.3
|
|
# - speed = 34m/s, offset = 20, out = -0.25
|
|
# - speed = 34m/s, offset = -2.5, out = -1.8
|
|
_K0 = -0.3
|
|
_K1 = -0.01879
|
|
_K2 = 0.01013
|
|
return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
|
|
|
|
|
|
def get_can_signals(CP):
|
|
# this function generates lists for signal, messages and initial values
|
|
signals = [
|
|
("XMISSION_SPEED", "ENGINE_DATA", 0),
|
|
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
|
("STEER_ANGLE", "STEERING_SENSORS", 0),
|
|
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
|
|
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
|
|
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
|
|
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
|
|
("GEAR", "GEARBOX", 0),
|
|
("BRAKE_ERROR_1", "STANDSTILL", 1),
|
|
("BRAKE_ERROR_2", "STANDSTILL", 1),
|
|
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
|
|
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
|
|
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
|
|
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
|
|
("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
|
|
("ESP_DISABLED", "VSA_STATUS", 1),
|
|
("HUD_LEAD", "ACC_HUD", 0),
|
|
("USER_BRAKE", "VSA_STATUS", 0),
|
|
("STEER_STATUS", "STEER_STATUS", 5),
|
|
("GEAR_SHIFTER", "GEARBOX", 0),
|
|
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
|
|
("CRUISE_SETTING", "SCM_BUTTONS", 0),
|
|
("ACC_STATUS", "POWERTRAIN_DATA", 0),
|
|
]
|
|
|
|
checks = [
|
|
("ENGINE_DATA", 100),
|
|
("WHEEL_SPEEDS", 50),
|
|
("STEERING_SENSORS", 100),
|
|
("SCM_FEEDBACK", 10),
|
|
("GEARBOX", 100),
|
|
("STANDSTILL", 50),
|
|
("SEATBELT_STATUS", 10),
|
|
("CRUISE", 10),
|
|
("POWERTRAIN_DATA", 100),
|
|
("VSA_STATUS", 50),
|
|
("SCM_BUTTONS", 25),
|
|
]
|
|
|
|
if CP.radarOffCan:
|
|
# Civic is only bosch to use the same brake message as other hondas.
|
|
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_HATCH):
|
|
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
|
|
checks += [("BRAKE_MODULE", 50)]
|
|
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
|
("MAIN_ON", "SCM_FEEDBACK", 0),
|
|
("EPB_STATE", "EPB_STATUS", 0),
|
|
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
|
|
("CRUISE_SPEED", "ACC_HUD", 0)]
|
|
checks += [("GAS_PEDAL_2", 100)]
|
|
else:
|
|
# Nidec signals.
|
|
signals += [("CRUISE_SPEED_PCM", "CRUISE", 0),
|
|
("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
|
|
checks += [("CRUISE_PARAMS", 50)]
|
|
|
|
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
|
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
|
|
else:
|
|
signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
|
|
("DOOR_OPEN_FR", "DOORS_STATUS", 1),
|
|
("DOOR_OPEN_RL", "DOORS_STATUS", 1),
|
|
("DOOR_OPEN_RR", "DOORS_STATUS", 1),
|
|
("WHEELS_MOVING", "STANDSTILL", 1)]
|
|
checks += [("DOORS_STATUS", 3)]
|
|
|
|
if CP.carFingerprint == CAR.CIVIC:
|
|
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
|
("MAIN_ON", "SCM_FEEDBACK", 0),
|
|
("EPB_STATE", "EPB_STATUS", 0),
|
|
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
|
|
elif CP.carFingerprint == CAR.ACURA_ILX:
|
|
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
|
("MAIN_ON", "SCM_BUTTONS", 0)]
|
|
elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
|
|
signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
|
|
elif CP.carFingerprint == CAR.ODYSSEY:
|
|
signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
|
|
("EPB_STATE", "EPB_STATUS", 0),
|
|
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
|
|
checks += [("EPB_STATUS", 50)]
|
|
elif CP.carFingerprint == CAR.PILOT:
|
|
signals += [("MAIN_ON", "SCM_BUTTONS", 0),
|
|
("CAR_GAS", "GAS_PEDAL_2", 0)]
|
|
|
|
# add gas interceptor reading if we are using it
|
|
if CP.enableGasInterceptor:
|
|
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
|
|
checks.append(("GAS_SENSOR", 50))
|
|
|
|
return signals, checks
|
|
|
|
|
|
def get_can_parser(CP):
|
|
signals, checks = get_can_signals(CP)
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
|
|
|
def get_cam_can_parser(CP):
|
|
signals = []
|
|
|
|
# all hondas except CRV and RDX use 0xe4 for steering
|
|
checks = [(0xe4, 100)]
|
|
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX]:
|
|
checks = [(0x194, 100)]
|
|
|
|
cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus)
|
|
|
|
class CarState(object):
|
|
def __init__(self, CP):
|
|
self.CP = CP
|
|
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
|
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
|
|
|
|
self.user_gas, self.user_gas_pressed = 0., 0
|
|
self.brake_switch_prev = 0
|
|
self.brake_switch_ts = 0
|
|
|
|
self.cruise_buttons = 0
|
|
self.cruise_setting = 0
|
|
self.v_cruise_pcm_prev = 0
|
|
self.blinker_on = 0
|
|
|
|
self.left_blinker_on = 0
|
|
self.right_blinker_on = 0
|
|
|
|
self.stopped = 0
|
|
|
|
# vEgo kalman filter
|
|
dt = 0.01
|
|
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
|
|
# R = 1e3
|
|
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
|
|
A=[[1.0, dt], [0.0, 1.0]],
|
|
C=[[1.0, 0.0]],
|
|
K=[[0.12287673], [0.29666309]])
|
|
self.v_ego = 0.0
|
|
|
|
def update(self, cp, cp_cam):
|
|
|
|
# copy can_valid on buses 0 and 2
|
|
self.can_valid = cp.can_valid
|
|
self.cam_can_valid = cp_cam.can_valid
|
|
|
|
# car params
|
|
v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
|
|
v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
|
|
|
|
# update prevs, update must run once per loop
|
|
self.prev_cruise_buttons = self.cruise_buttons
|
|
self.prev_cruise_setting = self.cruise_setting
|
|
self.prev_blinker_on = self.blinker_on
|
|
|
|
self.prev_left_blinker_on = self.left_blinker_on
|
|
self.prev_right_blinker_on = self.right_blinker_on
|
|
|
|
# ******************* parse out can *******************
|
|
|
|
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): # TODO: find wheels moving bit in dbc
|
|
self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
|
self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
|
|
else:
|
|
self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
|
|
self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
|
|
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
|
|
self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
|
|
|
|
# 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
|
|
# TODO: Use values from DBC to parse this field
|
|
self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
|
|
self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
|
|
self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3] # 3 is low speed lockout, not worth a warning
|
|
self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
|
|
self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
|
|
|
|
# calc best v_ego estimate, by averaging two opposite corners
|
|
speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
|
|
self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
|
|
self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
|
|
self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
|
|
self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
|
|
self.v_wheel = (self.v_wheel_fl+self.v_wheel_fr+self.v_wheel_rl+self.v_wheel_rr)/4.
|
|
|
|
# blend in transmission speed at low speed, since it has more low speed accuracy
|
|
self.v_weight = interp(self.v_wheel, v_weight_bp, v_weight_v)
|
|
speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
|
|
self.v_weight * self.v_wheel
|
|
|
|
if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
|
self.v_ego_x = [[speed], [0.0]]
|
|
|
|
self.v_ego_raw = speed
|
|
v_ego_x = self.v_ego_kf.update(speed)
|
|
self.v_ego = float(v_ego_x[0])
|
|
self.a_ego = float(v_ego_x[1])
|
|
|
|
# this is a hack for the interceptor. This is now only used in the simulation
|
|
# TODO: Replace tests by toyota so this can go away
|
|
if self.CP.enableGasInterceptor:
|
|
self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
|
|
self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
|
|
|
|
self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
|
|
self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
|
|
self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
|
|
|
|
self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
|
|
self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
|
|
|
|
self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
|
|
self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
|
|
self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
|
|
|
|
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_HATCH):
|
|
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
|
|
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
|
|
self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
|
|
else:
|
|
self.park_brake = 0 # TODO
|
|
self.brake_hold = 0 # TODO
|
|
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
|
|
|
|
can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
|
|
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
|
|
|
|
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
|
# crv doesn't include cruise control
|
|
if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019):
|
|
self.car_gas = self.pedal_gas
|
|
else:
|
|
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
|
|
|
|
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
|
|
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
|
|
|
|
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
|
|
|
if self.CP.radarOffCan:
|
|
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
|
|
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
|
|
if self.CP.carFingerprint in (CAR.CIVIC_HATCH, CAR.ACCORDH):
|
|
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
|
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
|
|
(self.brake_switch and self.brake_switch_prev and \
|
|
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
|
|
self.brake_switch_prev = self.brake_switch
|
|
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
|
else:
|
|
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
|
|
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
|
|
self.v_cruise_pcm = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED']
|
|
self.v_cruise_pcm_prev = self.v_cruise_pcm
|
|
else:
|
|
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
|
self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
|
|
self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']
|
|
# brake switch has shown some single time step noise, so only considered when
|
|
# switch is on for at least 2 consecutive CAN samples
|
|
self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
|
|
(self.brake_switch and self.brake_switch_prev and \
|
|
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
|
|
self.brake_switch_prev = self.brake_switch
|
|
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
|
|
|
|
self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
|
|
self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
|
|
self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
|
|
|
|
|
|
# carstate standalone tester
|
|
if __name__ == '__main__':
|
|
import zmq
|
|
context = zmq.Context()
|
|
|
|
class CarParams(object):
|
|
def __init__(self):
|
|
self.carFingerprint = "HONDA CIVIC 2016 TOURING"
|
|
self.enableGasInterceptor = 0
|
|
CP = CarParams()
|
|
CS = CarState(CP)
|
|
|
|
# while 1:
|
|
# CS.update()
|
|
# time.sleep(0.01)
|
|
|