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130 lines
5.6 KiB
130 lines
5.6 KiB
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "subaru"
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ret.radarOffCan = True
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if candidate in PREGLOBAL_CARS:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
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ret.enableBsm = 0x25c in fingerprint[0]
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else:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
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ret.enableBsm = 0x228 in fingerprint[0]
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ret.dashcamOnly = candidate in PREGLOBAL_CARS
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ret.steerRateCost = 0.7
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ret.steerLimitTimer = 0.4
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if candidate == CAR.ASCENT:
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ret.mass = 2031. + STD_CARGO_KG
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ret.wheelbase = 2.89
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13.5
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ret.steerActuatorDelay = 0.3 # end-to-end angle controller
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ret.lateralTuning.pid.kf = 0.00003
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
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if candidate == CAR.IMPREZA:
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15
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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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if candidate == CAR.IMPREZA_2020:
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ret.mass = 1480. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
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if candidate == CAR.FORESTER:
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 17 # learned, 14 stock
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.000038
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
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if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
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ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.000039
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
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if candidate == CAR.LEGACY_PREGLOBAL:
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 12.5 # 14.5 stock
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ret.steerActuatorDelay = 0.15
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
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if candidate == CAR.OUTBACK_PREGLOBAL:
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ret.mass = 1568 + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 20 # learned, 14 stock
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ret.steerActuatorDelay = 0.1
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ret.lateralTuning.pid.kf = 0.000039
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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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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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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ret.events = self.create_common_events(ret).to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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hud_control = c.hudControl
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ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel, hud_control.visualAlert,
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hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
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self.frame += 1
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return ret
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