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nopenpilot/selfdrive/car/toyota/interface.py

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#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
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
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
if candidate == CAR.PRIUS:
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
ret.steerActuatorDelay = 0.3
elif candidate == CAR.PRIUS_V:
stop_and_go = True
ret.wheelbase = 2.78
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.LQR_RAV4)
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.CHR, CAR.CHRH):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited
set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
# starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
stop_and_go = True
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
stop_and_go = True
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
# 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,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
# we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear
if candidate in EV_HYBRID_CAR:
ret.flags |= ToyotaFlags.HYBRID.value
# 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. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
if ret.enableGasInterceptor:
set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
elif candidate in TSS2_CAR:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
return ret
# returns a car.CarState
def update(self, c, can_strings):
# ******************* do can recv *******************
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
# events
events = self.create_common_events(ret)
if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
events.add(EventName.lowSpeedLockout)
if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
events.add(EventName.belowEngageSpeed)
if c.actuators.accel > 0.3:
# some margin on the actuator to not false trigger cancellation while stopping
events.add(EventName.speedTooLow)
if ret.vEgo < 0.001:
# while in standstill, send a user alert
events.add(EventName.manualRestart)
ret.events = events.to_msg()
self.CS.out = ret.as_reader()
return self.CS.out
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c):
ret = self.CC.update(c, self.CS)
return ret
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