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Toyota: Prius V fixups (#23640) 

* Fine tune Prius-V control parameter

* Adjust DBC file and enable SNG support

*Adjust the DBC file to CT200H, the parameters of this model are closer to PRIUS V
*Add PRIUS V to NO_STOP_TIMER_CAR list to enable SNG support

* Update interface.py

remove spaces

* Update values.py

Mod DBC to toyota_rav4_2017_pt_generated

* Update values.py

The file has been updated to resolve the conflict and can be directly merged

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/23647/head
【TIM】 2022-01-28 07:33:18 +08:00 committed by GitHub
parent 3ca8e3653b
commit eaebf01e58
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2 changed files with 5 additions and 4 deletions
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5
selfdrive/car/toyota/interface.py
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@ -39,11 +39,12 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.3
elif candidate == CAR.PRIUS_V:
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.8
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False

4
selfdrive/car/toyota/values.py
View File

@ -1704,7 +1704,7 @@ DBC = {
}
# These cars have non-standard EPS torque scale factors. All others are 73
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100})
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
@ -1714,4 +1714,4 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# no resume button press required
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}