From d01c340f1fec72b8d13ded7076cfe2f77034e441 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue, 19 Oct 2021 19:59:10 -0400 Subject: [PATCH] Hyundai: Car Port for 2022 Hyundai Ioniq Hybrid (#22610) * Add car port: Hyundai Ioniq Hybrid 2022 * Update RELEASES.MD * Update CARS.md * Add test route: Hyundai Ioniq Hybrid 2022 --- RELEASES.md | 1 + docs/CARS.md | 1 + selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 6 +++--- selfdrive/car/hyundai/values.py | 27 ++++++++++++++++++++++---- selfdrive/test/test_routes.py | 1 + 7 files changed, 31 insertions(+), 9 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1180ebd62..875e77bb6 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -20,6 +20,7 @@ Version 0.8.10 (2021-XX-XX) * Improved FW fingerprinting reliability for Hyundai/Kia/Genesis * Added prerequisites for longitudinal control on Hyndai/Kia/Genesis and Honda Bosch * Honda Freed 2020 support thanks to belm0! + * Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin! * Hyundai Santa Fe 2022 support thanks to sunnyhaibin! * Kia K5 2021 support thanks to sunnyhaibin! * Škoda Kamiq 2021 support thanks to jyoung8607! diff --git a/docs/CARS.md b/docs/CARS.md index 4b895e39a..18263312a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -102,6 +102,7 @@ Community Maintained Cars and Features | Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph | | Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Ioniq Hybrid 2017-19 | SCC + LKAS | Stock | 0mph | 32mph | +| Hyundai | Ioniq Hybrid 2020-22 | SCC + LFA | Stock | 0mph | 0mph | | Hyundai | Ioniq PHEV 2020-21 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph | | Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph | diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 5afada8d8..19ff38129 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -104,7 +104,7 @@ class CarController(): # 20 Hz LFA MFA message if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, - CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]: + CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]: can_sends.append(create_lfahda_mfc(self.packer, enabled)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 55ba0066d..dd43ec1a8 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -18,7 +18,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]: + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]: values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 74bc0f423..b738beb9f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -125,7 +125,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]: + elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 @@ -133,7 +133,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV]: + if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: ret.lateralTuning.pid.kf = 0.00005 @@ -249,7 +249,7 @@ class CarInterface(CarInterfaceBase): # these cars require a special panda safety mode due to missing counters and checksums in the messages if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, - CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]: + CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022]: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] # set appropriate safety param for gas signal diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 20cad5cfe..6e5858b8c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -12,7 +12,7 @@ class CarControllerParams: def __init__(self, CP): if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA]: + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.KONA_EV, CAR.KONA, CAR.IONIQ_HEV_2022]: self.STEER_MAX = 384 else: self.STEER_MAX = 255 @@ -30,6 +30,7 @@ class CAR: ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" + IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019" IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020" IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020" @@ -234,6 +235,23 @@ FW_VERSIONS = { b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.00 95740-G2300 170703', ], }, + CAR.IONIQ_HEV_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00AE MDPS C 1.00 1.01 56310G2510\x00 4APHC101', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00AEH MFC AT USA LHD 1.00 1.00 95740-G2700 201027', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', + ], + }, CAR.SONATA: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', @@ -842,13 +860,13 @@ FEATURES = { # which message has the gear "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]), "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]), - "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV]), + "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022]), # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021]), + "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022]), } -HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ]) # these cars use a different gas signal +HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022]) # these cars use a different gas signal EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV]) # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. @@ -866,6 +884,7 @@ DBC = { CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), + CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py index acdf2b97a..02c4f86f9 100755 --- a/selfdrive/test/test_routes.py +++ b/selfdrive/test/test_routes.py @@ -81,6 +81,7 @@ routes = [ TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),