329 lines
14 KiB
Python
Executable File
329 lines
14 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS
|
|
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
EventName = car.CarEvent.EventName
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
@staticmethod
|
|
def compute_gb(accel, speed):
|
|
return float(accel) / 3.0
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
|
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
|
|
|
|
ret.carName = "toyota"
|
|
ret.safetyModel = car.CarParams.SafetyModel.toyota
|
|
|
|
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
|
|
ret.steerLimitTimer = 0.4
|
|
|
|
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
|
|
ret.lateralTuning.init('pid')
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
|
|
if candidate == CAR.PRIUS:
|
|
stop_and_go = True
|
|
ret.safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file
|
|
ret.wheelbase = 2.70
|
|
ret.steerRatio = 15.74 # unknown end-to-end spec
|
|
tire_stiffness_factor = 0.6371 # hand-tune
|
|
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
|
|
|
|
ret.lateralTuning.init('indi')
|
|
ret.lateralTuning.indi.innerLoopGain = 4.0
|
|
ret.lateralTuning.indi.outerLoopGain = 3.0
|
|
ret.lateralTuning.indi.timeConstant = 1.0
|
|
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
|
|
ret.steerActuatorDelay = 0.5
|
|
|
|
elif candidate in [CAR.RAV4, CAR.RAV4H]:
|
|
stop_and_go = True if (candidate in CAR.RAV4H) else False
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.65
|
|
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
|
|
tire_stiffness_factor = 0.5533
|
|
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
|
|
ret.lateralTuning.init('lqr')
|
|
|
|
ret.lateralTuning.lqr.scale = 1500.0
|
|
ret.lateralTuning.lqr.ki = 0.05
|
|
|
|
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
|
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
|
ret.lateralTuning.lqr.c = [1., 0.]
|
|
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
|
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
|
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
|
|
|
elif candidate == CAR.COROLLA:
|
|
stop_and_go = False
|
|
ret.safetyParam = 100
|
|
ret.wheelbase = 2.70
|
|
ret.steerRatio = 18.27
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594
|
|
|
|
elif candidate == CAR.LEXUS_RX:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.79
|
|
ret.steerRatio = 14.8
|
|
tire_stiffness_factor = 0.5533
|
|
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
elif candidate == CAR.LEXUS_RXH:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.79
|
|
ret.steerRatio = 16. # 14.8 is spec end-to-end
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
|
|
|
|
elif candidate == CAR.LEXUS_RX_TSS2:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.79
|
|
ret.steerRatio = 14.8
|
|
tire_stiffness_factor = 0.5533 # not optimized yet
|
|
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00007818594
|
|
|
|
elif candidate in [CAR.CHR, CAR.CHRH]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.63906
|
|
ret.steerRatio = 13.6
|
|
tire_stiffness_factor = 0.7933
|
|
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.82448
|
|
ret.steerRatio = 13.7
|
|
tire_stiffness_factor = 0.7933
|
|
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
|
|
ret.steerRatio = 16.0
|
|
tire_stiffness_factor = 0.8
|
|
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
|
|
ret.lateralTuning.pid.kf = 0.00012 # community tuning
|
|
|
|
elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.78
|
|
ret.steerRatio = 16.0
|
|
tire_stiffness_factor = 0.8
|
|
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
|
|
ret.lateralTuning.pid.kf = 0.00012 # community tuning
|
|
|
|
elif candidate == CAR.AVALON:
|
|
stop_and_go = False
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.82
|
|
ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
|
|
tire_stiffness_factor = 0.7983
|
|
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
elif candidate == CAR.RAV4_TSS2:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.68986
|
|
ret.steerRatio = 14.3
|
|
tire_stiffness_factor = 0.7933
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
|
|
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kf = 0.00004
|
|
|
|
elif candidate == CAR.RAV4H_TSS2:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.68986
|
|
ret.steerRatio = 14.3
|
|
tire_stiffness_factor = 0.7933
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]]
|
|
ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kf = 0.00004
|
|
|
|
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.63906
|
|
ret.steerRatio = 13.9
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00007818594
|
|
|
|
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.8702
|
|
ret.steerRatio = 16.0 # not optimized
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00007818594
|
|
|
|
elif candidate == CAR.SIENNA:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 3.03
|
|
ret.steerRatio = 15.5
|
|
tire_stiffness_factor = 0.444
|
|
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
|
|
ret.lateralTuning.pid.kf = 0.00007818594
|
|
|
|
elif candidate == CAR.LEXUS_IS:
|
|
stop_and_go = False
|
|
ret.safetyParam = 77
|
|
ret.wheelbase = 2.79908
|
|
ret.steerRatio = 13.3
|
|
tire_stiffness_factor = 0.444
|
|
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
elif candidate == CAR.LEXUS_CTH:
|
|
stop_and_go = True
|
|
ret.safetyParam = 100
|
|
ret.wheelbase = 2.60
|
|
ret.steerRatio = 18.6
|
|
tire_stiffness_factor = 0.517
|
|
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00007
|
|
|
|
elif candidate == CAR.LEXUS_NXH:
|
|
stop_and_go = True
|
|
ret.safetyParam = 73
|
|
ret.wheelbase = 2.66
|
|
ret.steerRatio = 14.7
|
|
tire_stiffness_factor = 0.444 # not optimized yet
|
|
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
ret.steerRateCost = 1.
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
|
|
# TODO: get actual value, for now starting with reasonable value for
|
|
# civic and scaling by mass and wheelbase
|
|
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
|
|
|
# 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)
|
|
|
|
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
|
|
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
|
|
smartDsu = 0x2FF in fingerprint[0]
|
|
# In TSS2 cars the camera does long control
|
|
ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
|
|
ret.enableGasInterceptor = 0x201 in fingerprint[0]
|
|
# 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")
|
|
ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
|
|
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
|
|
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
|
|
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
|
|
|
|
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
|
# to a negative value, so it won't matter.
|
|
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
|
|
|
|
# removing the DSU disables AEB and it's considered a community maintained feature
|
|
# intercepting the DSU is a community feature since it requires unofficial hardware
|
|
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
|
|
|
|
ret.longitudinalTuning.deadzoneBP = [0., 9.]
|
|
ret.longitudinalTuning.deadzoneV = [0., .15]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
|
|
if ret.enableGasInterceptor:
|
|
ret.gasMaxBP = [0., 9., 35]
|
|
ret.gasMaxV = [0.2, 0.5, 0.7]
|
|
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
|
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
|
else:
|
|
ret.gasMaxBP = [0.]
|
|
ret.gasMaxV = [0.5]
|
|
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
|
|
ret.longitudinalTuning.kiV = [0.54, 0.36]
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
# ******************* do can recv *******************
|
|
self.cp.update_strings(can_strings)
|
|
self.cp_cam.update_strings(can_strings)
|
|
|
|
ret = self.CS.update(self.cp, self.cp_cam)
|
|
|
|
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
|
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
|
ret.buttonEvents = []
|
|
|
|
# events
|
|
events = self.create_common_events(ret)
|
|
|
|
if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera:
|
|
events.add(EventName.invalidGiraffeToyota)
|
|
if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
|
|
events.add(EventName.lowSpeedLockout)
|
|
if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
|
|
events.add(EventName.speedTooLow)
|
|
if c.actuators.gas > 0.1:
|
|
# some margin on the actuator to not false trigger cancellation while stopping
|
|
events.add(EventName.speedTooLow)
|
|
if ret.vEgo < 0.001:
|
|
# while in standstill, send a user alert
|
|
events.add(EventName.manualRestart)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
self.CS.out = ret.as_reader()
|
|
return self.CS.out
|
|
|
|
# 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
|