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270 lines
11 KiB
270 lines
11 KiB
from collections import namedtuple
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from cereal import car
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from common.numpy_fast import clip, interp
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from common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from selfdrive.car import create_gas_interceptor_command
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from selfdrive.car.honda import hondacan
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from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
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from selfdrive.controls.lib.drive_helpers import rate_limit
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.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 clip(gb, 0.0, 1.0), 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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# initialize to no alert
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fcw_display = 0
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steer_required = 0
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acc_alert = 0
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# priority is: FCW, steer required, all others
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if hud_alert == VisualAlert.fcw:
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fcw_display = VISUAL_HUD[hud_alert.raw]
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elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
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steer_required = VISUAL_HUD[hud_alert.raw]
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else:
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acc_alert = VISUAL_HUD[hud_alert.raw]
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return fcw_display, steer_required, acc_alert
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HUDData = namedtuple("HUDData",
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["pcm_accel", "v_cruise", "lead_visible",
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"lanes_visible", "fcw", "acc_alert", "steer_required"])
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def rate_limit_steer(new_steer, last_steer):
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# TODO just hardcoded ramp to min/max in 0.33s for all Honda
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MAX_DELTA = 3 * DT_CTRL
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return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.packer = CANPacker(dbc_name)
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self.params = CarControllerParams(CP)
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self.frame = 0
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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_steer = 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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conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
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hud_v_cruise = hud_control.setSpeed / conversion 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_steer = rate_limit_steer(actuators.steer, self.last_steer)
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self.last_steer = limited_steer
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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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fcw_display, steer_required, acc_alert = 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_steer = int(interp(-limited_steer * 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((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
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# Send steering command.
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can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
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CS.CP.openpilotLongitudinalControl))
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# wind brake from air resistance decel at high speed
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wind_brake = 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 = 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 self.CP.enableGasInterceptor or 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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clip(CS.out.vEgo - 3.0, 0.0, 100.0),
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clip(CS.out.vEgo + 0.0, 0.0, 100.0),
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clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
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pcm_speed = 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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clip(CS.out.vEgo - 2.0, 0.0, 100.0),
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clip(CS.out.vEgo + 2.0, 0.0, 100.0),
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clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
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pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V)
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pcm_accel = int(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: # radarless cars don't have supplemental message
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can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
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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, 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, 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 = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
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self.gas = 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, 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 = clip(self.brake_last - wind_brake, 0.0, 1.0)
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apply_brake = int(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, apply_brake, pump_on,
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pcm_override, pcm_cancel_cmd, fcw_display,
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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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if self.CP.enableGasInterceptor:
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# way too aggressive at low speed without this
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gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
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# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
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# This prevents unexpected pedal range rescaling
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# Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
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# when you do enable.
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if CC.longActive:
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self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
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else:
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self.gas = 0.0
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can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
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# Send dashboard UI commands.
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if self.frame % 10 == 0:
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hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
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hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
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can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
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if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
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self.speed = pcm_speed
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if not self.CP.enableGasInterceptor:
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self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
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new_actuators = actuators.copy()
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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.steer = self.last_steer
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new_actuators.steerOutputCan = apply_steer
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self.frame += 1
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return new_actuators, can_sends
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