188 lines
7.4 KiB
Python
188 lines
7.4 KiB
Python
from cereal import car
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from common.realtime import DT_CTRL
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from common.numpy_fast import interp
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from selfdrive.config import Conversions as CV
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.gm import gmcan
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from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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class CarControllerParams():
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def __init__(self, car_fingerprint):
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if car_fingerprint in SUPERCRUISE_CARS:
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self.STEER_MAX = 150
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self.STEER_STEP = 1 # how often we update the steer cmd
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self.STEER_DELTA_UP = 2 # 0.75s time to peak torque
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self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero
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self.MIN_STEER_SPEED = -1. # can steer down to zero
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else:
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self.STEER_MAX = 300
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self.STEER_STEP = 2 # how often we update the steer cmd
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self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
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self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
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self.MIN_STEER_SPEED = 3.
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self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
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self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 100 # from dbc
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self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
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# Takes case of "Service Adaptive Cruise" and "Service Front Camera"
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# dashboard messages.
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self.ADAS_KEEPALIVE_STEP = 100
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self.CAMERA_KEEPALIVE_STEP = 100
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# pedal lookups, only for Volt
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MAX_GAS = 3072 # Only a safety limit
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ZERO_GAS = 2048
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MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
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self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
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self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
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self.BRAKE_LOOKUP_BP = [-1., -0.25]
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self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
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def actuator_hystereses(final_pedal, pedal_steady):
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# hyst params... TODO: move these to VehicleParams
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pedal_hyst_gap = 0.01 # don't change pedal command for small oscillations within this value
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# for small pedal oscillations within pedal_hyst_gap, don't change the pedal command
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if final_pedal == 0.:
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pedal_steady = 0.
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elif final_pedal > pedal_steady + pedal_hyst_gap:
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pedal_steady = final_pedal - pedal_hyst_gap
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elif final_pedal < pedal_steady - pedal_hyst_gap:
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pedal_steady = final_pedal + pedal_hyst_gap
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final_pedal = pedal_steady
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return final_pedal, pedal_steady
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def process_hud_alert(hud_alert):
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# initialize to no alert
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steer = 0
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if hud_alert == VisualAlert.steerRequired:
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steer = 1
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return steer
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class CarController():
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def __init__(self, canbus, car_fingerprint):
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self.pedal_steady = 0.
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self.start_time = 0.
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self.steer_idx = 0
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self.apply_steer_last = 0
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self.car_fingerprint = car_fingerprint
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self.lka_icon_status_last = (False, False)
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self.steer_rate_limited = False
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# Setup detection helper. Routes commands to
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# an appropriate CAN bus number.
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self.canbus = canbus
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self.params = CarControllerParams(car_fingerprint)
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self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
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self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
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def update(self, enabled, CS, frame, actuators, \
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hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
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P = self.params
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# Send CAN commands.
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can_sends = []
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canbus = self.canbus
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alert_out = process_hud_alert(hud_alert)
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steer = alert_out
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### STEER ###
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if (frame % P.STEER_STEP) == 0:
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lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > P.MIN_STEER_SPEED
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if lkas_enabled:
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new_steer = actuators.steer * P.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, P)
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self.steer_rate_limited = new_steer != apply_steer
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else:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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idx = (frame // P.STEER_STEP) % 4
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if self.car_fingerprint in SUPERCRUISE_CARS:
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can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
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canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
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else:
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can_sends.append(gmcan.create_steering_control(self.packer_pt,
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canbus.powertrain, apply_steer, idx, lkas_enabled))
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### GAS/BRAKE ###
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if self.car_fingerprint not in SUPERCRUISE_CARS:
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# no output if not enabled, but keep sending keepalive messages
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# treat pedals as one
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final_pedal = actuators.gas - actuators.brake
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# *** apply pedal hysteresis ***
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final_brake, self.brake_steady = actuator_hystereses(
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final_pedal, self.pedal_steady)
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if not enabled:
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# Stock ECU sends max regen when not enabled.
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apply_gas = P.MAX_ACC_REGEN
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apply_brake = 0
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else:
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apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
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apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
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# Gas/regen and brakes - all at 25Hz
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if (frame % 4) == 0:
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idx = (frame // 4) % 4
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at_full_stop = enabled and CS.standstill
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near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
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can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
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at_full_stop = enabled and CS.standstill
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can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
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# Send dashboard UI commands (ACC status), 25hz
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if (frame % 4) == 0:
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can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
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# Radar needs to know current speed and yaw rate (50hz),
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# and that ADAS is alive (10hz)
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time_and_headlights_step = 10
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tt = frame * DT_CTRL
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if frame % time_and_headlights_step == 0:
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idx = (frame // time_and_headlights_step) % 4
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can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
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can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
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speed_and_accelerometer_step = 2
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if frame % speed_and_accelerometer_step == 0:
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idx = (frame // speed_and_accelerometer_step) % 4
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can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
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can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
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if frame % P.ADAS_KEEPALIVE_STEP == 0:
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can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
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# Show green icon when LKA torque is applied, and
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# alarming orange icon when approaching torque limit.
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# If not sent again, LKA icon disappears in about 5 seconds.
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# Conveniently, sending camera message periodically also works as a keepalive.
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lka_active = CS.lkas_status == 1
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lka_critical = lka_active and abs(actuators.steer) > 0.9
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lka_icon_status = (lka_active, lka_critical)
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if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
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or lka_icon_status != self.lka_icon_status_last:
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can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
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self.lka_icon_status_last = lka_icon_status
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return can_sends
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