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GM: separate EV/ICE gas/brake lookup tables (#25354)

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* GM: separate EV/ICE gas/brake lookup tables

* removed blank line

* V are the same

* comment

better ordering

comment

comment

* Add some delay for the laggy brakes

Add some delay for the laggy brakes

* move actuator to only acadia

* start braking at 0 m/s/s

* Revert "start braking at 0 m/s/s"

This reverts commit 55c1dee733aab3dc037fb1705c9bd0ace55c849f.

* add delay for escalade

* revert EV changes

* Update selfdrive/car/gm/carcontroller.py

* comment

* only ACADIA

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Tim Wilson
2022-08-08 14:55:40 -06:00
committed by GitHub
parent 3afe7464df
commit 2a4020da60
3 changed files with 21 additions and 8 deletions
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selfdrive/car/gm/carcontroller.py
+7 -3
View File
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
@@ -68,8 +68,12 @@ class CarController:
self.apply_gas = self.params.MAX_ACC_REGEN
self.apply_brake = 0
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.CP.carFingerprint in EV_CAR:
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
idx = (self.frame // 4) % 4
selfdrive/car/gm/interface.py
+1
View File
@@ -118,6 +118,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
selfdrive/car/gm/values.py
+13 -5
View File
@@ -39,12 +39,16 @@ class CarControllerParams:
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2
GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
STEER_THRESHOLD = 1.0
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
class CAR:
@@ -57,6 +61,10 @@ class CAR:
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
EV_CAR = {CAR.VOLT}
STEER_THRESHOLD = 1.0
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +