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Abstract std params (#1138) 

* get_can_parser and get_cam_can_parser are now standard static methods
pull/1141/head
rbiasini 2020-02-20 14:06:02 -08:00 committed by GitHub
parent 435a36cdff
commit af39d74a5b
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11 changed files with 46 additions and 238 deletions
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38
selfdrive/car/chrysler/interface.py
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@ -21,18 +21,10 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "chrysler"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.chrysler
# pedal
ret.enableCruise = True
# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
@ -52,43 +44,19 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.44
ret.minSteerSpeed = 3.8 # m/s
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
# 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)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
ret.openpilotLongitudinalControl = False
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret

35
selfdrive/car/ford/interface.py
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@ -16,19 +16,11 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "ford"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.ford
ret.dashcamOnly = True
# pedal
ret.enableCruise = True
ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
@ -41,10 +33,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.44
tire_stiffness_factor = 0.5328
# 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.
# 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)
@ -54,32 +42,11 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.angle
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1.0] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.5]
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
ret.stoppingControl = False
ret.startAccel = 0.0
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret
# returns a car.CarState

22
selfdrive/car/gm/interface.py
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@ -21,13 +21,11 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "gm"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
ret.enableCruise = False # stock cruise control is kept off
ret.enableCruise = False
# GM port is considered a community feature, since it disables AEB;
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True
@ -48,9 +46,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRateCost = 1.0
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
# default to gm
ret.safetyModel = car.CarParams.SafetyModel.gm
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@ -112,7 +107,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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)
@ -122,26 +116,16 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.startAccel = 0.8
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.steerControlType = car.CarParams.SteerControlType.torque
return ret

15
selfdrive/car/honda/interface.py
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@ -117,10 +117,8 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "honda"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
@ -144,7 +142,6 @@ class CarInterface(CarInterfaceBase):
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
@ -377,21 +374,11 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
# no max steer limit VS speed
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.] # max steer allowed
ret.gasMaxBP = [0.] # m/s
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
ret.brakeMaxBP = [5., 20.] # m/s
ret.brakeMaxV = [1., 0.8] # max brake allowed
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.stoppingControl = True
ret.startAccel = 0.5

33
selfdrive/car/hyundai/interface.py
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@ -24,15 +24,11 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "hyundai"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc
ret.radarOffCan = True
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
@ -93,14 +89,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 0.
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.centerToFront = ret.wheelbase * 0.4
# TODO: get actual value, for now starting with reasonable value for
@ -112,24 +100,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.0]
ret.gasMaxBP = [0.]
ret.gasMaxV = [1.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
ret.stoppingControl = False
ret.startAccel = 0.0
return ret

31
selfdrive/car/interfaces.py
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@ -40,6 +40,37 @@ class CarInterfaceBase():
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
raise NotImplementedError
# returns a set of default params to avoid repetition in car specific params
@staticmethod
def get_std_params(candidate, fingerprint, has_relay):
ret = car.CarParams.new_message()
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
# standard ALC params
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerMaxBP = [0.]
ret.steerMaxV = [1.]
# stock ACC by default
ret.enableCruise = True
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5] # half max brake
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.openpilotLongitudinalControl = False
ret.startAccel = 0.0
ret.stoppingControl = False
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [1.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [1.]
return ret
# returns a car.CarState, pass in car.CarControl
def update(self, c, can_strings):
raise NotImplementedError

26
selfdrive/car/mock/interface.py
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@ -35,17 +35,9 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mock"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModel.noOutput
ret.openpilotLongitudinalControl = False
# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
ret.mass = 1700.
ret.rotationalInertia = 2500.
ret.wheelbase = 2.70
@ -53,22 +45,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13. # reasonable
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
ret.steerRatioRear = 0.
ret.steerMaxBP = [0.]
ret.steerMaxV = [0.] # 2/3rd torque allowed above 45 kph
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.steerActuatorDelay = 0.
return ret

26
selfdrive/car/subaru/interface.py
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@ -19,16 +19,12 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "subaru"
ret.radarOffCan = True
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableCruise = True
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
@ -45,26 +41,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerRatioRear = 0.
# testing tuning
# No long control in subaru
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# end from gm
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase

33
selfdrive/car/toyota/interface.py
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@ -18,17 +18,11 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "toyota"
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.toyota
ret.enableCruise = True
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
@ -49,19 +43,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.indi.outerLoopGain = 3.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
# TODO: Determine if this is better than INDI
# ret.lateralTuning.init('lqr')
# ret.lateralTuning.lqr.scale = 1500.0
# ret.lateralTuning.lqr.ki = 0.01
# 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 = [0.03233671, 0.03185757]
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
@ -265,16 +246,6 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
ret.steerControlType = car.CarParams.SteerControlType.torque
# steer, gas, brake limitations VS speed
ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
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]
@ -301,8 +272,6 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.stoppingControl = False
ret.startAccel = 0.0
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]

23
selfdrive/car/volkswagen/interface.py
View File

@ -21,26 +21,18 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
ret = car.CarParams.new_message()
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
if candidate == CAR.GOLF:
# Set common MQB parameters that will apply globally
ret.carName = "volkswagen"
ret.radarOffCan = True
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
ret.enableCruise = True # Stock ACC still controls acceleration and braking
ret.openpilotLongitudinalControl = False
ret.steerControlType = car.CarParams.SteerControlType.torque
# Additional common MQB parameters that may be overridden per-vehicle
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
# As a starting point for speed-adjusted lateral tuning, use the example
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
@ -68,19 +60,6 @@ class CarInterface(CarInterfaceBase):
ret.enableCamera = True # Stock camera detection doesn't apply to VW
ret.transmissionType = car.CarParams.TransmissionType.automatic
ret.steerRatioRear = 0.
# No support for OP longitudinal control on Volkswagen at this time.
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
d8928803533f451657c247297c7eac694745f155
8e94b45bbadf4355135e13905f3e8219ff122f7f