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432 lines
17 KiB
432 lines
17 KiB
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
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from selfdrive.car.toyota.values import ECU, ECU_FINGERPRINT, CAR, NO_STOP_TIMER_CAR, TSS2_CAR, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.swaglog import cloudlog
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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GearShifter = car.CarState.GearShifter
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.VM = VehicleModel(CP)
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self.frame = 0
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self.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.cruise_enabled_prev = False
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# *** init the major players ***
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self.CS = CarState(CP)
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self.cp = get_can_parser(CP)
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self.cp_cam = get_cam_can_parser(CP)
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self.CC = None
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if CarController is not None:
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self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 3.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
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ret = car.CarParams.new_message()
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ret.carName = "toyota"
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ret.carFingerprint = candidate
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ret.carVin = vin
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.toyota
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# pedal
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ret.enableCruise = not ret.enableGasInterceptor
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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if candidate == CAR.PRIUS:
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stop_and_go = True
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ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
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ret.wheelbase = 2.70
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ret.steerRatio = 15.74 # unknown end-to-end spec
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tire_stiffness_factor = 0.6371 # hand-tune
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ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.init('indi')
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ret.lateralTuning.indi.innerLoopGain = 4.0
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ret.lateralTuning.indi.outerLoopGain = 3.0
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ret.lateralTuning.indi.timeConstant = 1.0
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ret.lateralTuning.indi.actuatorEffectiveness = 1.0
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# TODO: Determine if this is better than INDI
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# ret.lateralTuning.init('lqr')
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# ret.lateralTuning.lqr.scale = 1500.0
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# ret.lateralTuning.lqr.ki = 0.01
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# ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
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# ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
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# ret.lateralTuning.lqr.c = [1., 0.]
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# ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
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# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
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# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
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ret.steerActuatorDelay = 0.5
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elif candidate in [CAR.RAV4, CAR.RAV4H]:
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stop_and_go = True if (candidate in CAR.RAV4H) else False
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ret.safetyParam = 73
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ret.wheelbase = 2.65
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ret.steerRatio = 16.88 # 14.5 is spec end-to-end
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tire_stiffness_factor = 0.5533
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ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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ret.lateralTuning.init('lqr')
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ret.lateralTuning.lqr.scale = 1500.0
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ret.lateralTuning.lqr.ki = 0.05
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ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
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ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
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ret.lateralTuning.lqr.c = [1., 0.]
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ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
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ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
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ret.lateralTuning.lqr.dcGain = 0.002237852961363602
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elif candidate == CAR.COROLLA:
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stop_and_go = False
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ret.safetyParam = 100
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ret.wheelbase = 2.70
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ret.steerRatio = 18.27
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
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elif candidate == CAR.LEXUS_RXH:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.79
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ret.steerRatio = 16. # 14.8 is spec end-to-end
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
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elif candidate in [CAR.CHR, CAR.CHRH]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.63906
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ret.steerRatio = 13.6
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tire_stiffness_factor = 0.7933
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ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.82448
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ret.steerRatio = 13.7
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tire_stiffness_factor = 0.7933
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ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.78
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ret.steerRatio = 16.0
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tire_stiffness_factor = 0.8
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ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
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ret.lateralTuning.pid.kf = 0.00012 # community tuning
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elif candidate == CAR.AVALON:
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stop_and_go = False
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ret.safetyParam = 73
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ret.wheelbase = 2.82
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ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
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tire_stiffness_factor = 0.7983
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ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate == CAR.RAV4_TSS2:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.68986
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ret.steerRatio = 14.3
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tire_stiffness_factor = 0.7933
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.63906
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ret.steerRatio = 13.9
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.8702
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ret.steerRatio = 16.0 # not optimized
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate == CAR.SIENNA:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 3.03
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ret.steerRatio = 16.0
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tire_stiffness_factor = 0.444
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ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate == CAR.LEXUS_IS:
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stop_and_go = False
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ret.safetyParam = 77
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ret.wheelbase = 2.79908
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ret.steerRatio = 13.3
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tire_stiffness_factor = 0.444
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ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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elif candidate == CAR.LEXUS_CTH:
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stop_and_go = True
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ret.safetyParam = 100
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ret.wheelbase = 2.60
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ret.steerRatio = 18.6
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tire_stiffness_factor = 0.517
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ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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ret.lateralTuning.pid.kf = 0.00007
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ret.steerRateCost = 1.
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ret.centerToFront = ret.wheelbase * 0.44
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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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tire_stiffness_factor=tire_stiffness_factor)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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ret.steerControlType = car.CarParams.SteerControlType.torque
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
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ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.DSU) or (has_relay and candidate in TSS2_CAR)
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ret.enableApgs = False # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
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ret.enableGasInterceptor = 0x201 in fingerprint[0]
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ret.openpilotLongitudinalControl = ret.enableCamera and ret.enableDsu
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cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
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cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
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cloudlog.warning("ECU APGS Simulated: %r", ret.enableApgs)
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cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
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ret.steerLimitAlert = False
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ret.longitudinalTuning.deadzoneBP = [0., 9.]
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ret.longitudinalTuning.deadzoneV = [0., .15]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.stoppingControl = False
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ret.startAccel = 0.0
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if ret.enableGasInterceptor:
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ret.gasMaxBP = [0., 9., 35]
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ret.gasMaxV = [0.2, 0.5, 0.7]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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else:
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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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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# ******************* do can recv *******************
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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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self.CS.update(self.cp)
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# create message
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ret = car.CarState.new_message()
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ret.canValid = self.cp.can_valid
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.aEgo = self.CS.a_ego
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ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# gear shifter
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ret.gearShifter = self.CS.gear_shifter
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# gas pedal
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ret.gas = self.CS.car_gas
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if self.CP.enableGasInterceptor:
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# use interceptor values to disengage on pedal press
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ret.gasPressed = self.CS.pedal_gas > 15
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else:
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ret.gasPressed = self.CS.pedal_gas > 0
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# brake pedal
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ret.brake = self.CS.user_brake
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ret.brakePressed = self.CS.brake_pressed != 0
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ret.brakeLights = self.CS.brake_lights
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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ret.steeringRate = self.CS.angle_steers_rate
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ret.steeringTorque = self.CS.steer_torque_driver
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ret.steeringTorqueEps = self.CS.steer_torque_motor
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ret.steeringPressed = self.CS.steer_override
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# cruise state
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ret.cruiseState.enabled = self.CS.pcm_acc_active
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.cruiseState.speedOffset = 0.
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if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
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# ignore standstill in hybrid vehicles, since pcm allows to restart without
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# receiving any special command
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# also if interceptor is detected
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ret.cruiseState.standstill = False
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else:
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ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
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buttonEvents = []
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.leftBlinker
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be.pressed = self.CS.left_blinker_on != 0
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.rightBlinker
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be.pressed = self.CS.right_blinker_on != 0
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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ret.leftBlinker = bool(self.CS.left_blinker_on)
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ret.rightBlinker = bool(self.CS.right_blinker_on)
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ret.doorOpen = not self.CS.door_all_closed
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ret.seatbeltUnlatched = not self.CS.seatbelt
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ret.genericToggle = self.CS.generic_toggle
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# events
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events = []
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if self.cp_cam.can_invalid_cnt >= 100 and self.CP.enableCamera:
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events.append(create_event('invalidGiraffeToyota', [ET.PERMANENT, ET.NO_ENTRY]))
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if not ret.gearShifter == GearShifter.drive and self.CP.enableDsu:
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.esp_disabled and self.CP.enableDsu:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.main_on and self.CP.enableDsu:
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events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gearShifter == GearShifter.reverse and self.CP.enableDsu:
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steer_error:
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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if self.CS.low_speed_lockout and self.CP.enableDsu:
|
|
events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
|
|
if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
|
|
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
|
|
if c.actuators.gas > 0.1:
|
|
# some margin on the actuator to not false trigger cancellation while stopping
|
|
events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
|
|
if ret.vEgo < 0.001:
|
|
# while in standstill, send a user alert
|
|
events.append(create_event('manualRestart', [ET.WARNING]))
|
|
|
|
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
|
|
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
|
|
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
|
elif not ret.cruiseState.enabled:
|
|
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
|
|
|
# disable on pedals rising edge or when brake is pressed and speed isn't zero
|
|
if (ret.gasPressed and not self.gas_pressed_prev) or \
|
|
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
|
|
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
|
|
|
if ret.gasPressed:
|
|
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
|
|
|
ret.events = events
|
|
|
|
self.gas_pressed_prev = ret.gasPressed
|
|
self.brake_pressed_prev = ret.brakePressed
|
|
self.cruise_enabled_prev = ret.cruiseState.enabled
|
|
|
|
return ret.as_reader()
|
|
|
|
# pass in a car.CarControl
|
|
# to be called @ 100hz
|
|
def apply(self, c):
|
|
|
|
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
|
|
c.actuators, c.cruiseControl.cancel,
|
|
c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
|
|
c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
|
|
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
|
|
|
self.frame += 1
|
|
return can_sends
|
|
|