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342 lines
15 KiB
342 lines
15 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.conversions import Conversions as CV
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from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
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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, create_button_event, scale_tire_stiffness, 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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Ecu = car.CarParams.Ecu
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
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BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
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Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
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ret.carName = "hyundai"
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ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to selfdrive/car/tests/routes.py, we can remove it from this list.
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ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
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if candidate in CANFD_CAR:
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# detect HDA2 with ADAS Driving ECU
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if Ecu.adas in [fw.ecu for fw in car_fw]:
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ret.flags |= HyundaiFlags.CANFD_HDA2.value
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else:
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# non-HDA2
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if 0x1cf not in fingerprint[4]:
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ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
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# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
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if 0x130 not in fingerprint[4]:
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if 0x40 not in fingerprint[4]:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
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else:
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ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
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if candidate not in CANFD_RADAR_SCC_CAR:
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ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
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else:
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# Send LFA message on cars with HDA
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if 0x485 in fingerprint[2]:
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ret.flags |= HyundaiFlags.SEND_LFA.value
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# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
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if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
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ret.flags |= HyundaiFlags.USE_FCA.value
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerLimitTimer = 0.4
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tire_stiffness_factor = 1.
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
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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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elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
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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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elif candidate == CAR.SONATA_LF:
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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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elif candidate == CAR.PALISADE:
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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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elif candidate == CAR.ELANTRA:
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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.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.ELANTRA_2021:
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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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elif candidate == CAR.ELANTRA_HEV_2021:
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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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elif candidate == CAR.HYUNDAI_GENESIS:
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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.minSteerSpeed = 60 * CV.KPH_TO_MS
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elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
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ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
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ret.wheelbase = 2.6
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ret.steerRatio = 13.42 # Spec
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tire_stiffness_factor = 0.385
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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.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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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.IONIQ_PHEV_2019:
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ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.VELOSTER:
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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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elif candidate == CAR.TUCSON:
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ret.mass = 3520. * CV.LB_TO_KG
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ret.wheelbase = 2.67
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ret.steerRatio = 14.00 * 1.15
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tire_stiffness_factor = 0.385
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elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
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ret.mass = 1630. + STD_CARGO_KG # average
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ret.wheelbase = 2.756
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ret.steerRatio = 16.
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tire_stiffness_factor = 0.385
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elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
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ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim
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ret.wheelbase = 3.000
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ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
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# Kia
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elif candidate == CAR.KIA_SORENTO:
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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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elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
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ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
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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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if candidate == CAR.KIA_NIRO_PHEV:
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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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elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
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ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions
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ret.wheelbase = 2.756
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ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
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elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
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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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if candidate == CAR.KIA_OPTIMA_G4:
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
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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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elif candidate == CAR.KIA_FORTE:
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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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elif candidate == CAR.KIA_CEED:
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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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elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
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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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elif candidate == CAR.KIA_EV6:
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ret.mass = 2055 + STD_CARGO_KG
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ret.wheelbase = 2.9
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ret.steerRatio = 16.
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tire_stiffness_factor = 0.65
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elif candidate == CAR.IONIQ_5:
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ret.mass = 2012 + STD_CARGO_KG
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ret.wheelbase = 3.0
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ret.steerRatio = 16.
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tire_stiffness_factor = 0.65
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elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
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ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
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ret.wheelbase = 2.756
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ret.steerRatio = 13.6
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elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
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ret.wheelbase = 2.81
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ret.steerRatio = 13.5 # average of the platforms
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if candidate == CAR.KIA_SORENTO_4TH_GEN:
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ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
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else:
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ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
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# Genesis
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elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
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ret.mass = 2205 + STD_CARGO_KG
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ret.wheelbase = 2.9
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ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
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elif candidate == CAR.GENESIS_G70:
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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.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_GV70_1ST_GEN:
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ret.mass = 1950. + STD_CARGO_KG
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ret.wheelbase = 2.87
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ret.steerRatio = 14.6
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elif candidate == CAR.GENESIS_G80:
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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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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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# *** longitudinal control ***
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if candidate in CANFD_CAR:
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ret.longitudinalTuning.kpV = [0.1]
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ret.longitudinalTuning.kiV = [0.0]
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ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
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else:
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ret.longitudinalTuning.kpV = [0.5]
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ret.longitudinalTuning.kiV = [0.0]
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ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
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ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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ret.stoppingControl = True
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ret.startingState = True
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ret.vEgoStarting = 0.1
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ret.startAccel = 1.0
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ret.longitudinalActuatorDelayLowerBound = 0.5
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ret.longitudinalActuatorDelayUpperBound = 0.5
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# *** feature detection ***
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if candidate in CANFD_CAR:
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bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
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ret.enableBsm = 0x1e5 in fingerprint[bus]
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else:
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ret.enableBsm = 0x58b in fingerprint[0]
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# *** panda safety config ***
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if candidate in CANFD_CAR:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
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get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
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if ret.flags & HyundaiFlags.CANFD_HDA2:
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ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
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if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
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if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
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ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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else:
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if candidate in LEGACY_SAFETY_MODE_CAR:
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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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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
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else:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
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if candidate in CAMERA_SCC_CAR:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
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if ret.openpilotLongitudinalControl:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
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if candidate in HYBRID_CAR:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS
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elif candidate in EV_CAR:
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
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if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
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ret.flags |= HyundaiFlags.ALT_LIMITS.value
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ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS
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ret.centerToFront = ret.wheelbase * 0.4
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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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return ret
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@staticmethod
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def init(CP, logcan, sendcan):
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if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
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addr, bus = 0x7d0, 0
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if CP.flags & HyundaiFlags.CANFD_HDA2.value:
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addr, bus = 0x730, 5
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disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
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# for blinkers
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if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
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buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
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# Handle CF_Clu_CruiseSwState changing buttons mid-press
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if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
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buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
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ret.buttonEvents = buttonEvents
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# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
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# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
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# Main button also can trigger an engagement on these cars
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allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
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events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
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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.:
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self.low_speed_alert = True
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if ret.vEgo > (self.CP.minSteerSpeed + 4.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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return ret
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def apply(self, c, now_nanos):
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return self.CC.update(c, self.CS, now_nanos)
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