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248 lines
9.1 KiB
248 lines
9.1 KiB
from collections import namedtuple
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from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.controls.lib.drive_helpers import rate_limit
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from common.numpy_fast import clip, interp
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from selfdrive.car import create_gas_command
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from selfdrive.car.honda import hondacan
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from selfdrive.car.honda.values import OLD_NIDEC_LONG_CONTROL, CruiseButtons, CAR, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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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_hystereses(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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if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV, CAR.CRV_EU)) and brake > 0.0:
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brake += 0.15
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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", "car",
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"lanes", "fcw", "acc_alert", "steer_required"])
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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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.packer = CANPacker(dbc_name)
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self.params = CarControllerParams(CP)
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def update(self, enabled, CS, frame, actuators,
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pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
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hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
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P = self.params
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if enabled:
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accel = actuators.accel
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gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.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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# *** apply brake hysteresis ***
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pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
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# *** no output if not enabled ***
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if not enabled and CS.out.cruiseState.enabled:
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# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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pcm_cancel_cmd = True
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# Never send cancel command if we never enter cruise state (no cruise if pedal)
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# Cancel cmd causes brakes to release at a standstill causing grinding
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pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.pcmCruise
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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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if hud_show_lanes:
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hud_lanes = 1
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else:
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hud_lanes = 0
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if enabled:
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if hud_show_car:
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hud_car = 2
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else:
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hud_car = 1
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else:
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hud_car = 0
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fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
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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(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
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lkas_active = enabled and not CS.steer_not_allowed
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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 CS.CP.carFingerprint in HONDA_BOSCH and CS.CP.openpilotLongitudinalControl:
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if (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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idx = frame % 4
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can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
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lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
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# TODO: pass in LoC.long_control_state and use that to decide starting/stoppping
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stopping = accel < 0 and CS.out.vEgo < 0.3
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starting = accel > 0 and CS.out.vEgo < 0.3
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# Prevent rolling backwards
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accel = -4.0 if stopping else accel
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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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if CS.CP.carFingerprint in OLD_NIDEC_LONG_CONTROL:
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#pcm_speed = pcm_speed
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pcm_accel = int(clip(pcm_accel, 0, 1) * 0xc6)
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else:
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max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
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# TODO this 1.44 is just to maintain previous behavior
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pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
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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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pcm_speed_V = [0.0,
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clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
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clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0)]
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pcm_speed = interp(-brake, pcm_speed_BP, pcm_speed_V)
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if not CS.CP.openpilotLongitudinalControl:
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if (frame % 2) == 0:
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idx = frame // 2
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can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
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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, idx, CS.CP.carFingerprint))
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elif CS.out.cruiseState.standstill:
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can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
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else:
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# Send gas and brake commands.
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if (frame % 2) == 0:
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idx = frame // 2
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ts = frame * DT_CTRL
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if CS.CP.carFingerprint in HONDA_BOSCH:
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bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
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can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, accel, bosch_gas, idx, stopping, starting, CS.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 * P.BRAKE_MAX, 0, P.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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can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
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pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake))
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self.apply_brake_last = apply_brake
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if CS.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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apply_gas = clip(gas_mult * gas, 0., 1.)
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can_sends.append(create_gas_command(self.packer, apply_gas, idx))
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hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
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hud_lanes, fcw_display, acc_alert, steer_required)
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# Send dashboard UI commands.
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if (frame % 10) == 0:
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idx = (frame//10) % 4
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can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
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return can_sends
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