131 lines
5.6 KiB
Python
131 lines
5.6 KiB
Python
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
|
|
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
|
|
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
|
|
|
ret.carName = "subaru"
|
|
ret.radarOffCan = True
|
|
|
|
if candidate in PREGLOBAL_CARS:
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
|
|
ret.enableBsm = 0x25c in fingerprint[0]
|
|
else:
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
|
|
ret.enableBsm = 0x228 in fingerprint[0]
|
|
|
|
ret.dashcamOnly = candidate in PREGLOBAL_CARS
|
|
|
|
ret.steerRateCost = 0.7
|
|
ret.steerLimitTimer = 0.4
|
|
|
|
if candidate == CAR.ASCENT:
|
|
ret.mass = 2031. + STD_CARGO_KG
|
|
ret.wheelbase = 2.89
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 13.5
|
|
ret.steerActuatorDelay = 0.3 # end-to-end angle controller
|
|
ret.lateralTuning.pid.kf = 0.00003
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
|
|
|
|
if candidate == CAR.IMPREZA:
|
|
ret.mass = 1568. + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 15
|
|
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
|
|
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]]
|
|
|
|
if candidate == CAR.IMPREZA_2020:
|
|
ret.mass = 1480. + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 17 # learned, 14 stock
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.lateralTuning.pid.kf = 0.00005
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
|
|
|
|
if candidate == CAR.FORESTER:
|
|
ret.mass = 1568. + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 17 # learned, 14 stock
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.lateralTuning.pid.kf = 0.000038
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
|
|
|
|
if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
|
|
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
|
|
ret.mass = 1568 + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 20 # learned, 14 stock
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.lateralTuning.pid.kf = 0.000039
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
|
|
|
|
if candidate == CAR.LEGACY_PREGLOBAL:
|
|
ret.mass = 1568 + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 12.5 # 14.5 stock
|
|
ret.steerActuatorDelay = 0.15
|
|
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 = [[0.1, 0.2], [0.01, 0.02]]
|
|
|
|
if candidate == CAR.OUTBACK_PREGLOBAL:
|
|
ret.mass = 1568 + STD_CARGO_KG
|
|
ret.wheelbase = 2.67
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 20 # learned, 14 stock
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.lateralTuning.pid.kf = 0.000039
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
|
|
|
|
# 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)
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
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.events = self.create_common_events(ret).to_msg()
|
|
|
|
self.CS.out = ret.as_reader()
|
|
return self.CS.out
|
|
|
|
def apply(self, c):
|
|
hud_control = c.hudControl
|
|
ret = self.CC.update(c, self.CS, self.frame, c.actuators,
|
|
c.cruiseControl.cancel, hud_control.visualAlert,
|
|
hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
|
|
self.frame += 1
|
|
return ret
|