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248 lines
9.2 KiB
248 lines
9.2 KiB
from cereal import car
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from common.numpy_fast import clip, interp
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from selfdrive.car import apply_toyota_steer_torque_limits
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from selfdrive.car import create_gas_command
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from selfdrive.car.toyota.toyotacan import make_can_msg, \
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create_steer_command, create_ui_command, \
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create_ipas_steer_command, create_accel_command, \
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create_acc_cancel_command, create_fcw_command
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from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS, TSS2_CAR, SteerLimitParams
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from selfdrive.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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# Accel limits
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ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
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ACCEL_MAX = 1.5 # 1.5 m/s2
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ACCEL_MIN = -3.0 # 3 m/s2
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ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
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# Steer angle limits (tested at the Crows Landing track and considered ok)
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ANGLE_MAX_BP = [0., 5.]
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ANGLE_MAX_V = [510., 300.]
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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TARGET_IDS = [0x340, 0x341, 0x342, 0x343, 0x344, 0x345,
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0x363, 0x364, 0x365, 0x370, 0x371, 0x372,
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0x373, 0x374, 0x375, 0x380, 0x381, 0x382,
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0x383]
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def accel_hysteresis(accel, accel_steady, enabled):
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# for small accel oscillations within ACCEL_HYST_GAP, don't change the accel command
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if not enabled:
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# send 0 when disabled, otherwise acc faults
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accel_steady = 0.
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elif accel > accel_steady + ACCEL_HYST_GAP:
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accel_steady = accel - ACCEL_HYST_GAP
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elif accel < accel_steady - ACCEL_HYST_GAP:
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accel_steady = accel + ACCEL_HYST_GAP
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accel = accel_steady
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return accel, accel_steady
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def process_hud_alert(hud_alert):
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# initialize to no alert
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steer = 0
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fcw = 0
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if hud_alert == VisualAlert.fcw:
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fcw = 1
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elif hud_alert == VisualAlert.steerRequired:
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steer = 1
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return steer, fcw
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def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
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if enabled and not steer_angle_enabled:
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#ipas_reset_counter = max(0, ipas_reset_counter - 1)
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#if ipas_reset_counter == 0:
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# steer_angle_enabled = True
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#else:
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# steer_angle_enabled = False
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#return steer_angle_enabled, ipas_reset_counter
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return True, 0
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elif enabled and steer_angle_enabled:
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if steer_angle_enabled and not ipas_active:
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ipas_reset_counter += 1
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else:
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ipas_reset_counter = 0
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if ipas_reset_counter > 10: # try every 0.1s
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steer_angle_enabled = False
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return steer_angle_enabled, ipas_reset_counter
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else:
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return False, 0
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class CarController():
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def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu, enable_apg):
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self.braking = False
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# redundant safety check with the board
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self.controls_allowed = True
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self.last_steer = 0
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self.last_angle = 0
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self.accel_steady = 0.
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self.car_fingerprint = car_fingerprint
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self.alert_active = False
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self.last_standstill = False
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self.standstill_req = False
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self.angle_control = False
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self.steer_angle_enabled = False
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self.ipas_reset_counter = 0
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self.last_fault_frame = -200
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self.fake_ecus = set()
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if enable_camera: self.fake_ecus.add(ECU.CAM)
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if enable_dsu: self.fake_ecus.add(ECU.DSU)
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if enable_apg: self.fake_ecus.add(ECU.APGS)
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self.packer = CANPacker(dbc_name)
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
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left_line, right_line, lead, left_lane_depart, right_lane_depart):
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# *** compute control surfaces ***
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# gas and brake
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apply_gas = clip(actuators.gas, 0., 1.)
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if CS.CP.enableGasInterceptor:
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# send only negative accel if interceptor is detected. otherwise, send the regular value
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# +0.06 offset to reduce ABS pump usage when OP is engaged
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apply_accel = 0.06 - actuators.brake
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else:
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apply_accel = actuators.gas - actuators.brake
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apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
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apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
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# steer torque
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apply_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
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apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.last_steer, CS.steer_torque_motor, SteerLimitParams)
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# only cut torque when steer state is a known fault
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if CS.steer_state in [9, 25]:
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self.last_fault_frame = frame
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# Cut steering for 2s after fault
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if not enabled or (frame - self.last_fault_frame < 200):
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apply_steer = 0
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apply_steer_req = 0
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else:
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apply_steer_req = 1
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self.steer_angle_enabled, self.ipas_reset_counter = \
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ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
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#print("{0} {1} {2}".format(self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active))
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# steer angle
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if self.steer_angle_enabled and CS.ipas_active:
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apply_angle = actuators.steerAngle
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angle_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_MAX_V)
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apply_angle = clip(apply_angle, -angle_lim, angle_lim)
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# windup slower
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if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
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angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
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else:
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angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
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apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
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else:
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apply_angle = CS.angle_steers
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if not enabled and CS.pcm_acc_status:
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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 = 1
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# on entering standstill, send standstill request
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if CS.standstill and not self.last_standstill:
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self.standstill_req = True
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if CS.pcm_acc_status != 8:
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# pcm entered standstill or it's disabled
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self.standstill_req = False
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self.last_steer = apply_steer
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self.last_angle = apply_angle
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self.last_accel = apply_accel
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self.last_standstill = CS.standstill
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can_sends = []
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#*** control msgs ***
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#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
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# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
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# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
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# on consecutive messages
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if ECU.CAM in self.fake_ecus:
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if self.angle_control:
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can_sends.append(create_steer_command(self.packer, 0., 0, frame))
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else:
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can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
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if self.angle_control:
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can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
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ECU.APGS in self.fake_ecus))
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elif ECU.APGS in self.fake_ecus:
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can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
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# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
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if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
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lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
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# Lexus IS uses a different cancellation message
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if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
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can_sends.append(create_acc_cancel_command(self.packer))
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elif ECU.DSU in self.fake_ecus:
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can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
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else:
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can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
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if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
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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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can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
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# ui mesg is at 100Hz but we send asap if:
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# - there is something to display
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# - there is something to stop displaying
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alert_out = process_hud_alert(hud_alert)
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steer, fcw = alert_out
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if (any(alert_out) and not self.alert_active) or \
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(not any(alert_out) and self.alert_active):
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send_ui = True
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self.alert_active = not self.alert_active
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else:
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send_ui = False
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# disengage msg causes a bad fault sound so play a good sound instead
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if pcm_cancel_cmd:
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send_ui = True
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if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
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can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
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if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
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can_sends.append(create_fcw_command(self.packer, fcw))
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#*** static msgs ***
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for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
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if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
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can_sends.append(make_can_msg(addr, vl, bus, False))
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return can_sends
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