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VW MQB: Min steer speed support, other cleanup (#22324) 

* VW MQB: Min steer speed support, other cleanup

* simplify

* more correct

* fix README
pull/22328/head
Jason Young 2021-09-23 17:12:57 -05:00 committed by GitHub
parent 0f8c6f130b
commit c51eba3fd6
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3 changed files with 14 additions and 8 deletions
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2
docs/CARS.md
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@ -140,7 +140,7 @@ Community Maintained Cars and Features
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen| Arteon 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |

2
selfdrive/car/volkswagen/carcontroller.py
View File

@ -39,7 +39,7 @@ class CarController():
# torque value. Do that anytime we happen to have 0 torque, or failing that,
# when exceeding ~1/3 the 360 second timer.
if enabled and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
if enabled and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
new_steer = int(round(actuators.steer * P.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
self.steer_rate_limited = new_steer != apply_steer

18
selfdrive/car/volkswagen/interface.py
View File

@ -94,6 +94,7 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
@ -135,16 +136,13 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
# 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)
else:
raise ValueError("unsupported car %s" % candidate)
# 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.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.centerToFront = ret.wheelbase * 0.45
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
@ -182,6 +180,14 @@ class CarInterface(CarInterfaceBase):
if self.CS.parkingBrakeSet:
events.add(EventName.parkBrake)
# Low speed steer alert hysteresis logic
if ret.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
ret.events = events.to_msg()
ret.buttonEvents = buttonEvents