You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
289 lines
13 KiB
289 lines
13 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from math import fabs, exp
|
|
from panda import Panda
|
|
|
|
from common.conversions import Conversions as CV
|
|
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
|
|
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
|
|
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
|
|
from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
|
|
from selfdrive.controls.lib.drive_helpers import get_friction
|
|
|
|
ButtonType = car.CarState.ButtonEvent.Type
|
|
EventName = car.CarEvent.EventName
|
|
GearShifter = car.CarState.GearShifter
|
|
TransmissionType = car.CarParams.TransmissionType
|
|
NetworkLocation = car.CarParams.NetworkLocation
|
|
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
|
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
@staticmethod
|
|
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
|
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
|
|
|
|
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
|
|
@staticmethod
|
|
def get_steer_feedforward_volt(desired_angle, v_ego):
|
|
desired_angle *= 0.02904609
|
|
sigmoid = desired_angle / (1 + fabs(desired_angle))
|
|
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
|
|
|
@staticmethod
|
|
def get_steer_feedforward_acadia(desired_angle, v_ego):
|
|
desired_angle *= 0.09760208
|
|
sigmoid = desired_angle / (1 + fabs(desired_angle))
|
|
return 0.04689655 * sigmoid * (v_ego + 10.028217)
|
|
|
|
def get_steer_feedforward_function(self):
|
|
if self.CP.carFingerprint == CAR.VOLT:
|
|
return self.get_steer_feedforward_volt
|
|
elif self.CP.carFingerprint == CAR.ACADIA:
|
|
return self.get_steer_feedforward_acadia
|
|
else:
|
|
return CarInterfaceBase.get_steer_feedforward_default
|
|
|
|
@staticmethod
|
|
def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
|
|
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
|
|
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
|
|
|
def sig(val):
|
|
return 1 / (1 + exp(-val)) - 0.5
|
|
|
|
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
|
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
|
# This has big effect on the stability about 0 (noise when going straight)
|
|
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
|
|
a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline
|
|
|
|
steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
|
|
return float(steer_torque) + friction
|
|
|
|
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
|
if self.CP.carFingerprint == CAR.BOLT_EUV:
|
|
return self.torque_from_lateral_accel_bolt
|
|
else:
|
|
return self.torque_from_lateral_accel_linear
|
|
|
|
@staticmethod
|
|
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
|
|
ret.carName = "gm"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
|
|
ret.autoResumeSng = False
|
|
use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs
|
|
|
|
if candidate in EV_CAR:
|
|
ret.transmissionType = TransmissionType.direct
|
|
else:
|
|
ret.transmissionType = TransmissionType.automatic
|
|
|
|
ret.longitudinalTuning.deadzoneBP = [0.]
|
|
ret.longitudinalTuning.deadzoneV = [0.15]
|
|
|
|
ret.longitudinalTuning.kpBP = [5., 35.]
|
|
ret.longitudinalTuning.kiBP = [0.]
|
|
|
|
if candidate in CAMERA_ACC_CAR:
|
|
ret.experimentalLongitudinalAvailable = True
|
|
ret.networkLocation = NetworkLocation.fwdCamera
|
|
ret.radarUnavailable = True # no radar
|
|
ret.pcmCruise = True
|
|
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
|
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
|
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
|
|
|
# Tuning for experimental long
|
|
ret.longitudinalTuning.kpV = [2.0, 1.5]
|
|
ret.longitudinalTuning.kiV = [0.72]
|
|
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
|
|
ret.vEgoStopping = 0.25
|
|
ret.vEgoStarting = 0.25
|
|
|
|
if experimental_long:
|
|
ret.pcmCruise = False
|
|
ret.openpilotLongitudinalControl = True
|
|
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
|
|
|
else: # ASCM, OBD-II harness
|
|
ret.openpilotLongitudinalControl = True
|
|
ret.networkLocation = NetworkLocation.gateway
|
|
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
|
|
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
|
# supports stop and go, but initial engage must (conservatively) be above 18mph
|
|
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
|
|
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
|
|
|
# Tuning
|
|
ret.longitudinalTuning.kpV = [2.4, 1.5]
|
|
ret.longitudinalTuning.kiV = [0.36]
|
|
|
|
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
|
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
|
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
|
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
|
|
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
|
|
|
|
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
|
|
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
|
|
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
|
|
ret.steerLimitTimer = 0.4
|
|
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
|
|
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
|
|
|
|
if candidate == CAR.VOLT:
|
|
ret.mass = 1607. + STD_CARGO_KG
|
|
ret.wheelbase = 2.69
|
|
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
|
|
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
|
|
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
|
|
|
|
ret.lateralTuning.pid.kpBP = [0., 40.]
|
|
ret.lateralTuning.pid.kpV = [0., 0.17]
|
|
ret.lateralTuning.pid.kiBP = [0.]
|
|
ret.lateralTuning.pid.kiV = [0.]
|
|
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
|
|
ret.steerActuatorDelay = 0.2
|
|
|
|
elif candidate == CAR.MALIBU:
|
|
ret.mass = 1496. + STD_CARGO_KG
|
|
ret.wheelbase = 2.83
|
|
ret.steerRatio = 15.8
|
|
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
|
|
|
|
elif candidate == CAR.HOLDEN_ASTRA:
|
|
ret.mass = 1363. + STD_CARGO_KG
|
|
ret.wheelbase = 2.662
|
|
# Remaining parameters copied from Volt for now
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
ret.steerRatio = 15.7
|
|
|
|
elif candidate == CAR.ACADIA:
|
|
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
|
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.86
|
|
ret.steerRatio = 14.4 # end to end is 13.46
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
|
|
|
|
elif candidate == CAR.BUICK_LACROSSE:
|
|
ret.mass = 1712. + STD_CARGO_KG
|
|
ret.wheelbase = 2.91
|
|
ret.steerRatio = 15.8
|
|
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
elif candidate == CAR.BUICK_REGAL:
|
|
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
|
|
ret.wheelbase = 2.83 # 111.4 inches in meters
|
|
ret.steerRatio = 14.4 # guess for tourx
|
|
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
|
|
|
|
elif candidate == CAR.CADILLAC_ATS:
|
|
ret.mass = 1601. + STD_CARGO_KG
|
|
ret.wheelbase = 2.78
|
|
ret.steerRatio = 15.3
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
|
|
elif candidate == CAR.ESCALADE:
|
|
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
|
ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG # (5552+5815)/2
|
|
ret.wheelbase = 2.95 # 116 inches in meters
|
|
ret.steerRatio = 17.3
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
elif candidate == CAR.ESCALADE_ESV:
|
|
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
|
ret.mass = 2739. + STD_CARGO_KG
|
|
ret.wheelbase = 3.302
|
|
ret.steerRatio = 17.3
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
|
ret.lateralTuning.pid.kf = 0.000045
|
|
tire_stiffness_factor = 1.0
|
|
|
|
elif candidate == CAR.BOLT_EUV:
|
|
ret.mass = 1669. + STD_CARGO_KG
|
|
ret.wheelbase = 2.63779
|
|
ret.steerRatio = 16.8
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
tire_stiffness_factor = 1.0
|
|
ret.steerActuatorDelay = 0.2
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
elif candidate == CAR.SILVERADO:
|
|
ret.mass = 2200. + STD_CARGO_KG
|
|
ret.wheelbase = 3.75
|
|
ret.steerRatio = 16.3
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
tire_stiffness_factor = 1.0
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
elif candidate == CAR.EQUINOX:
|
|
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.72
|
|
ret.steerRatio = 14.4
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
elif candidate == CAR.TRAILBLAZER:
|
|
ret.mass = 1345. + STD_CARGO_KG
|
|
ret.wheelbase = 2.64
|
|
ret.steerRatio = 16.8
|
|
ret.centerToFront = ret.wheelbase * 0.4
|
|
tire_stiffness_factor = 1.0
|
|
ret.steerActuatorDelay = 0.2
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
|
|
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
|
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
|
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
|
tire_stiffness_factor=tire_stiffness_factor)
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def _update(self, c):
|
|
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
|
|
|
|
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
|
|
buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)]
|
|
# Handle ACCButtons changing buttons mid-press
|
|
if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS:
|
|
buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS))
|
|
|
|
ret.buttonEvents = buttonEvents
|
|
|
|
# The ECM allows enabling on falling edge of set, but only rising edge of resume
|
|
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
|
|
GearShifter.eco, GearShifter.manumatic],
|
|
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
|
|
if not self.CP.pcmCruise:
|
|
if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
|
|
events.add(EventName.buttonEnable)
|
|
|
|
# Enabling at a standstill with brake is allowed
|
|
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
|
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
|
|
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
|
|
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
|
events.add(EventName.belowEngageSpeed)
|
|
if ret.cruiseState.standstill:
|
|
events.add(EventName.resumeRequired)
|
|
if ret.vEgo < self.CP.minSteerSpeed:
|
|
events.add(EventName.belowSteerSpeed)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
return ret
|
|
|
|
def apply(self, c, now_nanos):
|
|
return self.CC.update(c, self.CS, now_nanos)
|
|
|