elantra

2026-08-06 00:36:32 +08:00 · 2026-05-21 13:23:20 -05:00
parent 3f4f2a1813
commit 0c5cf54d57
5 changed files with 97 additions and 2 deletions
@@ -31,7 +31,7 @@ def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
  if CP.flags & HyundaiFlags.EV:
    return "LABEL11", "CC_React", "EMS12", "ACC_ACT", "E_EMS11", "Cruise_Limit_Target"
  if CP.flags & HyundaiFlags.HYBRID:
-    return "EMS16", "CRUISE_LAMP_M", "EMS16", "CRUISE_LAMP_S", "ELECT_GEAR", "SLC_SET_SPEED"
+    return "E_CRUISE_CONTROL", "CRUISE_LAMP_M", "E_CRUISE_CONTROL", "CRUISE_LAMP_S", "ELECT_GEAR", "SLC_SET_SPEED"
  return "EMS16", "CRUISE_LAMP_M", "EMS16", "CRUISE_LAMP_S", "LVR12", "CF_Lvr_CruiseSet"


@@ -138,7 +138,7 @@ class TestHyundaiFingerprint:

  @pytest.mark.parametrize(("candidate", "expected_msgs", "unexpected_msgs"), [
    (CAR.HYUNDAI_ELANTRA_2022_NON_SCC, ("EMS16", "LVR12"), ()),
-    (CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ("EMS16", "ELECT_GEAR"), ("E_CRUISE_CONTROL",)),
+    (CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, ("E_CRUISE_CONTROL", "ELECT_GEAR"), ("EMS16",)),
    (CAR.HYUNDAI_KONA_EV_NON_SCC, ("LABEL11", "EMS12", "E_EMS11"), ()),
  ])
  def test_non_scc_cruise_message_selection(self, candidate, expected_msgs, unexpected_msgs):
@@ -1536,6 +1536,10 @@ BO_ 881 E_EMS11: 8 XXX
 BO_ 1355 EV_PC6: 8 CGW
 SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX

+BO_ 1429 E_CRUISE_CONTROL: 8 XXX
+ SG_ CRUISE_LAMP_M : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_LAMP_S : 51|1@0+ (1,0) [0|1] "" XXX
+
 BO_ 1430 EV_PC2: 8 CGW
 SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX

@@ -126,6 +126,10 @@ IONIQ_6_CARS = (
 SONATA_HYBRID_CARS = (
  HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID,
 )
+ELANTRA_NON_SCC_CARS = (
+  HYUNDAI_CAR.HYUNDAI_ELANTRA_2022_NON_SCC,
+  HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC,
+)
 KIA_EV6_CARS = (
  HYUNDAI_CAR.KIA_EV6,
 )
@@ -264,6 +268,19 @@ SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 6.0
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0

+ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02
+ELANTRA_NON_SCC_FF_ADJUST_RIGHT = -0.02
+ELANTRA_NON_SCC_FF_ONSET = 0.14
+ELANTRA_NON_SCC_FF_ONSET_WIDTH = 0.06
+ELANTRA_NON_SCC_FF_CUTOFF = 1.10
+ELANTRA_NON_SCC_FF_CUTOFF_WIDTH = 0.34
+ELANTRA_NON_SCC_TRANSITION_SPEED = 8.0
+ELANTRA_NON_SCC_PHASE_SCALE = 0.10
+ELANTRA_NON_SCC_TURN_IN_BOOST_LEFT = 0.10
+ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
+ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
+ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
+
 KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
 KIA_FORTE_FF_REDUCTION_LEFT = 0.08
 KIA_FORTE_FF_REDUCTION_RIGHT = 0.20
@@ -966,6 +983,48 @@ def get_sonata_hybrid_center_taper_scale(desired_lateral_accel: float, v_ego: fl
  return 1.0 - reduction


+def _elantra_non_scc_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _elantra_non_scc_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / ELANTRA_NON_SCC_TRANSITION_SPEED) ** 2)
+
+
+def _elantra_non_scc_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / ELANTRA_NON_SCC_PHASE_SCALE)
+
+
+def _elantra_non_scc_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
+  return left_value if desired_lateral_accel >= 0.0 else right_value
+
+
+def get_elantra_non_scc_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _elantra_non_scc_sigmoid((abs_lateral_accel - ELANTRA_NON_SCC_FF_ONSET) / ELANTRA_NON_SCC_FF_ONSET_WIDTH)
+  cutoff = _elantra_non_scc_sigmoid((ELANTRA_NON_SCC_FF_CUTOFF - abs_lateral_accel) / ELANTRA_NON_SCC_FF_CUTOFF_WIDTH)
+  low_speed_factor = _elantra_non_scc_low_speed_factor(v_ego)
+  envelope = onset * cutoff * low_speed_factor
+  base_scale = 1.0 - (_elantra_non_scc_side_value(desired_lateral_accel,
+                                                   ELANTRA_NON_SCC_FF_ADJUST_LEFT,
+                                                   ELANTRA_NON_SCC_FF_ADJUST_RIGHT) * envelope)
+  phase = _elantra_non_scc_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  turn_in_boost = 1.0 + (_elantra_non_scc_side_value(desired_lateral_accel,
+                                                      ELANTRA_NON_SCC_TURN_IN_BOOST_LEFT,
+                                                      ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * (0.35 + 0.65 * low_speed_factor))
+  unwind_taper = 1.0 - (_elantra_non_scc_side_value(desired_lateral_accel,
+                                                     ELANTRA_NON_SCC_UNWIND_TAPER_LEFT,
+                                                     ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.35 + 0.65 * low_speed_factor))
+  return base_scale * turn_in_boost * max(unwind_taper, 0.0)
+
+
 def _kia_forte_sigmoid(x: float) -> float:
  return _sigmoid(x)

@@ -1498,6 +1557,7 @@ class LatControlTorque(LatControl):
    self.is_ioniq_ev_old = CP.carFingerprint in IONIQ_EV_OLD_CARS
    self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
    self.is_sonata_hybrid = CP.carFingerprint in SONATA_HYBRID_CARS
+    self.is_elantra_non_scc = CP.carFingerprint in ELANTRA_NON_SCC_CARS
    self.is_kia_forte = CP.carFingerprint in KIA_FORTE_CARS
    self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
    self.is_civic_bosch_modified = CP.carFingerprint == HONDA_CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
@@ -1623,6 +1683,7 @@ class LatControlTorque(LatControl):
      ioniq_ev_old_active = self.is_ioniq_ev_old
      ioniq_6_active = self.is_ioniq_6
      sonata_hybrid_active = self.is_sonata_hybrid
+      elantra_non_scc_active = self.is_elantra_non_scc
      kia_forte_active = self.is_kia_forte
      kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
      volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
@@ -1666,6 +1727,8 @@ class LatControlTorque(LatControl):
        friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
      elif sonata_hybrid_active:
        ff *= get_sonata_hybrid_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_hybrid_center_taper
+      elif elantra_non_scc_active:
+        ff *= get_elantra_non_scc_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
      elif kia_forte_active:
        ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
      elif kia_ev6_test_active:
@@ -39,6 +39,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_genesis_g90_ff_scale,
  get_genesis_g90_friction_scale,
  get_genesis_g90_friction_threshold,
+  get_elantra_non_scc_ff_scale,
  get_ioniq_5_ff_scale,
  get_ioniq_5_friction_scale,
  get_ioniq_5_friction_threshold,
@@ -237,6 +238,23 @@ class TestLatControl:
    assert get_sonata_hybrid_center_taper_scale(0.0, 3.0) < get_sonata_hybrid_center_taper_scale(0.0, 10.0)
    assert get_sonata_hybrid_center_taper_scale(0.0, 30.0) < get_sonata_hybrid_center_taper_scale(0.20, 30.0) <= 1.0

+  def test_elantra_non_scc_ff_scale_curve(self):
+    assert get_elantra_non_scc_ff_scale(0.0, 0.0, 20.0) == 1.0
+    steady_left = get_elantra_non_scc_ff_scale(0.45, 0.0, 8.0)
+    steady_right = get_elantra_non_scc_ff_scale(-0.45, 0.0, 8.0)
+    turn_in_left = get_elantra_non_scc_ff_scale(0.45, 0.7, 8.0)
+    turn_in_right = get_elantra_non_scc_ff_scale(-0.45, -0.7, 8.0)
+    unwind_left = get_elantra_non_scc_ff_scale(0.45, -0.7, 8.0)
+    unwind_right = get_elantra_non_scc_ff_scale(-0.45, 0.7, 8.0)
+    assert steady_left < 1.0
+    assert steady_right > steady_left
+    assert turn_in_left > steady_left
+    assert turn_in_right > steady_right
+    assert unwind_left < steady_left
+    assert unwind_right < steady_right
+    assert unwind_left < unwind_right
+    assert get_elantra_non_scc_ff_scale(-0.45, 0.0, 25.0) < get_elantra_non_scc_ff_scale(-0.45, 0.0, 8.0)
+
  def test_kia_forte_ff_scale_curve(self):
    assert get_kia_forte_ff_scale(0.0, 0.0, 20.0) == 1.0
    steady_left = get_kia_forte_ff_scale(0.45, 0.0, 25.0)
@@ -485,6 +503,16 @@ class TestLatControl:
    assert lac_log.active
    assert controller.torque_params.latAccelFactor == pytest.approx(3.0 * 1.22)

+  def test_elantra_non_scc_default_update_path(self):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_ELANTRA_HEV_2022_NON_SCC)
+    CarInterface = interfaces[HYUNDAI.HYUNDAI_ELANTRA_HEV_2022_NON_SCC]
+    CP = CarInterface.get_non_essential_params(HYUNDAI.HYUNDAI_ELANTRA_HEV_2022_NON_SCC)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert lac_log.active
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor)
+
  def test_kia_forte_default_update_path(self):
    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_FORTE)
    CarInterface = interfaces[HYUNDAI.KIA_FORTE]