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382 lines
16 KiB
382 lines
16 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.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS, CarControllerParams
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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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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / CarControllerParams.ACCEL_SCALE
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "toyota"
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ret.safetyModel = car.CarParams.SafetyModel.toyota
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerLimitTimer = 0.4
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# Improved longitudinal tune
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if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
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ret.longitudinalTuning.deadzoneBP = [0., 8.05]
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ret.longitudinalTuning.deadzoneV = [.0, .14]
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ret.longitudinalTuning.kpBP = [0., 5., 20.]
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ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
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ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
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ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
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ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
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ret.startingBrakeRate = 2.0 # release brakes fast
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ret.startAccel = 1.2 # Accelerate from 0 faster
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else:
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# Default longitudinal tune
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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.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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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.innerLoopGainBP = [0.]
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ret.lateralTuning.indi.innerLoopGainV = [4.0]
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ret.lateralTuning.indi.outerLoopGainBP = [0.]
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ret.lateralTuning.indi.outerLoopGainV = [3.0]
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ret.lateralTuning.indi.timeConstantBP = [0.]
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ret.lateralTuning.indi.timeConstantV = [1.0]
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ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
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ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
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ret.steerActuatorDelay = 0.3
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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 = 88
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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_RX:
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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 = 14.8
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tire_stiffness_factor = 0.5533
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ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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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 == CAR.LEXUS_RX_TSS2:
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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 = 14.8
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tire_stiffness_factor = 0.5533 # not optimized yet
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ret.mass = 4387. * 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.LEXUS_RXH_TSS2:
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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 = 16.0 # 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 = 4481.0 * 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], [0.15]]
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ret.lateralTuning.pid.kf = 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, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
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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_TSS2, CAR.HIGHLANDERH_TSS2]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
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ret.steerRatio = 16.0
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tire_stiffness_factor = 0.8
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ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
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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 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 = [[0.15], [0.05]]
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ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00004
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for fw in car_fw:
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if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
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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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break
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elif candidate == CAR.RAV4H_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 = [[0.15], [0.05]]
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ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kf = 0.00004
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for fw in car_fw:
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if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
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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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break
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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 = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
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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.LEXUS_ESH:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.8190
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ret.steerRatio = 16.06
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 3682. * 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 = 15.5
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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 = [[0.19], [0.02]]
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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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elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX]:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.66
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ret.steerRatio = 14.7
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.mass = 4070 * 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 = 0.00006
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elif candidate == CAR.PRIUS_TSS2:
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stop_and_go = True
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ret.safetyParam = 73
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ret.wheelbase = 2.70002 # from toyota online sepc.
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ret.steerRatio = 13.4 # True steerRation from older prius
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tire_stiffness_factor = 0.6371 # hand-tune
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ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]]
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ret.lateralTuning.pid.kf = 0.00007818594
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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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ret.enableCamera = True
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# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
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smartDsu = 0x2FF in fingerprint[0]
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# In TSS2 cars the camera does long control
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ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
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ret.enableGasInterceptor = 0x201 in fingerprint[0]
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# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
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ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
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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 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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# removing the DSU disables AEB and it's considered a community maintained feature
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# intercepting the DSU is a community feature since it requires unofficial hardware
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ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
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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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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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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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# events
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events = self.create_common_events(ret)
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if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
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events.add(EventName.lowSpeedLockout)
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if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
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events.add(EventName.belowEngageSpeed)
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if c.actuators.gas > 0.1:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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if ret.vEgo < 0.001:
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# while in standstill, send a user alert
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events.add(EventName.manualRestart)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
|
|
|
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# pass in a car.CarControl
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|
# to be called @ 100hz
|
|
def apply(self, c):
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|
|
|
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)
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|
|
|
self.frame += 1
|
|
return can_sends
|
|
|