95 lines
3.5 KiB
Python
95 lines
3.5 KiB
Python
from cereal import car
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from common.numpy_fast import clip, interp
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from selfdrive.car.nissan import nissancan
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from opendbc.can.packer import CANPacker
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from selfdrive.car.nissan.values import CAR, STEER_THRESHOLD
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# Steer angle limits
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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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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.car_fingerprint = CP.carFingerprint
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self.lkas_max_torque = 0
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self.last_angle = 0
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self.packer = CANPacker(dbc_name)
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def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
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left_line, right_line, left_lane_depart, right_lane_depart):
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""" Controls thread """
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# Send CAN commands.
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can_sends = []
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### STEER ###
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acc_active = bool(CS.out.cruiseState.enabled)
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lkas_hud_msg = CS.lkas_hud_msg
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lkas_hud_info_msg = CS.lkas_hud_info_msg
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apply_angle = actuators.steerAngle
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steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0
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if enabled:
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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.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
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else:
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angle_rate_lim = interp(CS.out.vEgo, 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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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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self.lkas_max_torque = LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel
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self.lkas_max_torque = max(
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# Scale max torque down to half LKAX_MAX_TORQUE as a minimum
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LKAS_MAX_TORQUE * 0.5,
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# Start scaling torque at STEER_THRESHOLD
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LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - STEER_THRESHOLD)
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)
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else:
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apply_angle = CS.out.steeringAngle
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self.lkas_max_torque = 0
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self.last_angle = apply_angle
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if not enabled and acc_active:
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# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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cruise_cancel = 1
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if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL] and cruise_cancel:
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can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, CS.cruise_throttle_msg, frame))
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# TODO: Find better way to cancel!
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# For some reason spamming the cancel button is unreliable on the Leaf
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# We now cancel by making propilot think the seatbelt is unlatched,
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# this generates a beep and a warning message every time you disengage
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if self.CP.carFingerprint == CAR.LEAF and frame % 2 == 0:
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can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
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can_sends.append(nissancan.create_steering_control(
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self.packer, self.car_fingerprint, apply_angle, frame, enabled, self.lkas_max_torque))
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if frame % 2 == 0:
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can_sends.append(nissancan.create_lkas_hud_msg(
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self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
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if frame % 50 == 0:
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can_sends.append(nissancan.create_lkas_hud_info_msg(
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self.packer, lkas_hud_info_msg, steer_hud_alert
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))
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return can_sends
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