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EV6: adjust steering thresholds (#24901)

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* EV6: adjust steering thresholds

* Is there any friction

* bump panda

* no friction

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2022-06-23 13:58:01 -07:00
committed by GitHub
parent d8bfe2f005
commit 221086857a
4 changed files with 24 additions and 18 deletions
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panda
+1 -1
Submodule panda updated: 4bc85ad40a...2652453892
selfdrive/car/hyundai/carstate.py
+5 -3
View File
@@ -5,7 +5,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons
from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 4
@@ -32,6 +32,8 @@ class CarState(CarStateBase):
self.park_brake = False
self.buttons_counter = 0
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
if self.CP.carFingerprint in HDA2_CAR:
return self.update_hda2(cp, cp_cam)
@@ -61,7 +63,7 @@ class CarState(CarStateBase):
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
@@ -157,7 +159,7 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
cp.vl["BLINKERS"]["RIGHT_LAMP"])
selfdrive/car/hyundai/values.py
+16 -12
View File
@@ -13,21 +13,27 @@ class CarControllerParams:
ACCEL_MAX = 2.0 # m/s
def __init__(self, CP):
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
if CP.carFingerprint in HDA2_CAR:
self.STEER_MAX = 150
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
else:
self.STEER_MAX = 384
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 7
self.STEER_DRIVER_ALLOWANCE = 50
self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_DRIVER_FACTOR = 1
self.STEER_THRESHOLD = 150
if CP.carFingerprint in HDA2_CAR:
self.STEER_MAX = 270
self.STEER_DRIVER_ALLOWANCE = 250
self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_THRESHOLD = 250
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
self.STEER_MAX = 255
else:
self.STEER_MAX = 384
class CAR:
@@ -1268,5 +1274,3 @@ DBC = {
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
}
STEER_THRESHOLD = 150
selfdrive/car/torque_data/override.yaml
+2 -2
View File
@@ -1,7 +1,7 @@
legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
### angle control
# Nissan appears to have torque
NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
@@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
COMMA BODY: [.nan, 1000, .nan]
# Totally new car
KIA EV6 2022: [3.0, 2.5, 0.05]
KIA EV6 2022: [3.0, 2.5, 0.0]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]