Tibetan Singing Bowl

opendbc_repo/opendbc/car/gm/interface.py

@@ -133,7 +133,11 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.enableGasInterceptorDEPRECATED and bool(CP.flags & GMFlags.PEDAL_LONG.value):
-      if CP.carFingerprint in BOLT_PEDAL_LONG_CARS:
+      if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        accel_min = CarControllerParams.ACCEL_MIN
+        accel_max = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],
+                              [0.54, 0.74, 1.03, 1.46, CarControllerParams.ACCEL_MAX])
+      elif CP.carFingerprint in BOLT_PEDAL_LONG_CARS:
         accel_min = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
                               [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95])
         accel_max = np.interp(current_speed, [0.0, 1.5, 4.0, 8.0, 15.0],

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -1,4 +1,5 @@
 import pytest
+import numpy as np
 from types import SimpleNamespace
 from parameterized import parameterized
 
@@ -18,7 +19,7 @@ from opendbc.car.gm.carcontroller import (
 import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -63,6 +64,31 @@ class TestGMFingerprint:
 
 
 class TestGMInterface:
+  def test_bolt_acc_pedal_pid_accel_limits_keep_full_negative_authority(self):
+    cp = SimpleNamespace(
+      enableGasInterceptorDEPRECATED=True,
+      flags=GMFlags.PEDAL_LONG.value,
+      carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    )
+
+    accel_min, accel_max = gm_interface.CarInterface.get_pid_accel_limits(cp, 4.73, 0.0)
+
+    assert accel_min == pytest.approx(CarControllerParams.ACCEL_MIN)
+    assert accel_max == pytest.approx(np.interp(4.73, [0.0, 1.5, 4.0, 8.0, 15.0],
+                                                [0.54, 0.74, 1.03, 1.46, CarControllerParams.ACCEL_MAX]))
+
+  def test_bolt_cc_pedal_pid_accel_limits_remain_regen_limited(self):
+    cp = SimpleNamespace(
+      enableGasInterceptorDEPRECATED=True,
+      flags=GMFlags.PEDAL_LONG.value,
+      carFingerprint=CAR.CHEVROLET_BOLT_CC_2022_2023,
+    )
+
+    accel_min, _ = gm_interface.CarInterface.get_pid_accel_limits(cp, 4.73, 0.0)
+
+    assert accel_min == pytest.approx(np.interp(4.73, [0.0, 1.5, 4.0, 8.0, 15.0, 30.0],
+                                                [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95]))
+
   def test_missing_hard_cruise_signal_defaults_to_init(self):
     assert get_hard_cruise_buttons({"ACCButtons": CruiseButtons.RES_ACCEL}) == CruiseButtons.INIT
     assert get_hard_cruise_buttons({"ACCButtonsHard": CruiseButtons.DECEL_SET}) == CruiseButtons.DECEL_SET

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -71,6 +71,11 @@ def egmp_dynamic_longitudinal_tuning(CP) -> bool:
     kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
 
 
+def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
+  return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
+    long_control_state == LongCtrlState.off
+
+
 @dataclass
 class Ioniq6LongitudinalTuningState:
   desired_accel: float = 0.0
@@ -84,6 +89,13 @@ class Ioniq6LongitudinalTuningState:
   long_control_state_last: LongCtrlState = LongCtrlState.off
 
 
+def reset_ev6_gt_line_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, CP,
+                                           long_control_state: LongCtrlState) -> Ioniq6LongitudinalTuningState:
+  if should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state):
+    return Ioniq6LongitudinalTuningState(long_control_state_last=long_control_state)
+  return state
+
+
 @dataclass
 class GenesisG90LongitudinalTuningState:
   actual_accel: float = 0.0
@@ -434,7 +446,10 @@ class CarController(CarControllerBase):
 
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
                                    actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
-    if use_egmp_dynamic_long_tuning and self.frame % 5 == 0:
+    if should_reset_ev6_gt_line_longitudinal_tuning(self.CP, actuators.longControlState):
+      self._ioniq_6_long_tuning = reset_ev6_gt_line_longitudinal_tuning(self._ioniq_6_long_tuning, self.CP,
+                                                                         actuators.longControlState)
+    elif use_egmp_dynamic_long_tuning and self.frame % 5 == 0:
       self._ioniq_6_long_tuning = update_ioniq_6_longitudinal_tuning(self._ioniq_6_long_tuning, accel_cmd,
                                                                       CS.out.vEgo, CS.out.aEgo,
                                                                       actuators.longControlState, self.long_active_ecu)

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -9,7 +9,8 @@ from opendbc.car.structs import CarControl, CarParams
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalTuningState, GenesisG90LongitudinalTuningState, \
                                              update_ioniq_6_longitudinal_tuning, \
-                                             update_genesis_g90_longitudinal_tuning, egmp_dynamic_longitudinal_tuning
+                                             update_genesis_g90_longitudinal_tuning, egmp_dynamic_longitudinal_tuning, \
+                                             should_reset_ev6_gt_line_longitudinal_tuning, reset_ev6_gt_line_longitudinal_tuning
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
@@ -541,6 +542,16 @@ class TestHyundaiFingerprint:
     assert CP.stoppingDecelRate == pytest.approx(0.4)
     assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin)
     assert egmp_dynamic_longitudinal_tuning(CP)
+    assert should_reset_ev6_gt_line_longitudinal_tuning(CP, LongCtrlState.off)
+    assert not should_reset_ev6_gt_line_longitudinal_tuning(CP, LongCtrlState.pid)
+
+    stale_state = Ioniq6LongitudinalTuningState(desired_accel=-2.2, actual_accel=-2.2, accel_last=-2.2,
+                                                jerk_upper=1.0, jerk_lower=5.0,
+                                                long_control_state_last=LongCtrlState.stopping)
+    reset_state = reset_ev6_gt_line_longitudinal_tuning(stale_state, CP, LongCtrlState.off)
+    assert reset_state.actual_accel == pytest.approx(0.0)
+    assert reset_state.accel_last == pytest.approx(0.0)
+    assert reset_state.long_control_state_last == LongCtrlState.off
 
   def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
     toggles = get_test_toggles()
@@ -554,6 +565,9 @@ class TestHyundaiFingerprint:
     assert CP.longitudinalActuatorDelay == pytest.approx(0.5)
     assert not kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin)
     assert not egmp_dynamic_longitudinal_tuning(CP)
+    assert not should_reset_ev6_gt_line_longitudinal_tuning(CP, LongCtrlState.off)
+    stale_state = Ioniq6LongitudinalTuningState(actual_accel=-2.2, accel_last=-2.2)
+    assert reset_ev6_gt_line_longitudinal_tuning(stale_state, CP, LongCtrlState.off) is stale_state
 
   def test_genesis_g90_longitudinal_params_bias_toward_earlier_stop_handoff(self):
     toggles = get_test_toggles()

selfdrive/controls/lib/longcontrol.py

@@ -17,6 +17,8 @@ STOPPING_RELEASE_STRONG_ACCEL = 0.45
 MOVING_STOP_FOLLOW_MIN_GAP = 0.25
 NEGATIVE_TARGET_CREEP_GUARD_SPEED = 0.35
 NEGATIVE_TARGET_CREEP_GUARD_DECEL = 0.40
+BOLT_ACC_PEDAL_REGEN_LIMIT_BP = [0.0, 1.5, 4.0, 8.0, 15.0, 30.0]
+BOLT_ACC_PEDAL_REGEN_LIMIT_V = [-0.93, -1.28, -1.98, -2.58, -2.86, -2.95]
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -137,6 +139,12 @@ class LongControl:
       getattr(CP, "carFingerprint", None) in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC) and
       not CP.enableGasInterceptorDEPRECATED
     )
+    self.is_bolt_acc_pedal_friction_car = bool(
+      CP.brand == "gm" and
+      CP.enableGasInterceptorDEPRECATED and
+      getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and
+      (CP.flags & GMFlags.PEDAL_LONG.value)
+    )
 
   def update_mpc_mode(self, experimental_mode):
     new_mode = 'blended' if experimental_mode else 'acc'
@@ -315,6 +323,22 @@ class LongControl:
     positive_cap = interp(a_target, [-1.5, -0.6, -0.1], [0.0, 0.0, 0.05])
     return min(output_accel, float(positive_cap))
 
+  def _get_longitudinal_feedforward(self, a_target, v_ego):
+    feedforward = a_target * self.feedforward_gain
+    if not self.is_bolt_acc_pedal_friction_car or a_target >= 0.0:
+      return feedforward
+
+    pedal_regen_limit = float(interp(v_ego, BOLT_ACC_PEDAL_REGEN_LIMIT_BP, BOLT_ACC_PEDAL_REGEN_LIMIT_V))
+    if a_target >= pedal_regen_limit:
+      return feedforward
+
+    # Preserve the existing pedal/interceptor shaping up to the known regen
+    # envelope, then restore full-gain feedforward only for the extra decel
+    # that must be satisfied by friction blending.
+    pedal_component = pedal_regen_limit * self.feedforward_gain
+    friction_component = a_target - pedal_regen_limit
+    return pedal_component + friction_component
+
   def update(self, active, CS, a_target, should_stop, accel_limits, starpilot_toggles):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
     self.pid.neg_limit = accel_limits[0]
@@ -352,7 +376,7 @@ class LongControl:
       self._shape_volt_test_tune_integrator(error, CS.vEgo)
       self._trim_positive_overshoot_integrator(a_target, error, CS)
       self._trim_gm_truck_positive_hold_integrator(a_target, error, CS)
-      feedforward = a_target * self.feedforward_gain
+      feedforward = self._get_longitudinal_feedforward(a_target, CS.vEgo)
       freeze_integrator = self._get_pedal_long_freeze(a_target, error, CS.vEgo, accel_limits)
       raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward,
                                          freeze_integrator=freeze_integrator)
@@ -438,7 +462,7 @@ class LongControl:
       error = self.v_pid - CS.vEgo
       error_deadzone = apply_deadzone(error, deadzone)
       freeze_integrator = prevent_overshoot or self._get_pedal_long_freeze(a_target, error_deadzone, CS.vEgo, accel_limits)
-      feedforward = a_target * self.feedforward_gain
+      feedforward = self._get_longitudinal_feedforward(a_target, CS.vEgo)
       output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
                                      feedforward=feedforward,
                                      freeze_integrator=freeze_integrator)

selfdrive/controls/tests/test_longcontrol.py

@@ -4,6 +4,7 @@ from cereal import car
 import pytest
 
 import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
+from opendbc.car.gm.values import CAR, GMFlags
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl, LongCtrlState, long_control_state_trans
 
 
@@ -21,6 +22,20 @@ def make_toggles(**overrides):
   return SimpleNamespace(**defaults)
 
 
+def make_longcontrol_cp(**overrides):
+  CP = car.CarParams.new_message()
+  CP.longitudinalTuning.kpBP = [0.0]
+  CP.longitudinalTuning.kpV = [0.0]
+  CP.longitudinalTuning.kiBP = [0.0]
+  CP.longitudinalTuning.kiV = [0.0]
+  CP.longitudinalTuning.kfDEPRECATED = 1.0
+
+  for key, value in overrides.items():
+    setattr(CP, key, value)
+
+  return CP
+
+
 class TestLongControlStateTransition:
 
   def test_stay_stopped(self):
@@ -454,6 +469,51 @@ def test_pedal_long_brake_bias_does_not_touch_non_pedal_or_mild_decel():
   assert lc._apply_pedal_long_brake_bias(-0.4, -0.6, CS) == -0.4
 
 
+def test_bolt_acc_pedal_friction_feedforward_preserves_regen_scaling_within_envelope():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  )
+  CP.longitudinalTuning.kfDEPRECATED = 0.20
+
+  lc = LongControl(CP)
+
+  assert lc._get_longitudinal_feedforward(-1.8, 4.73) == pytest.approx(-0.36)
+
+
+def test_bolt_acc_pedal_friction_feedforward_restores_full_gain_beyond_regen_envelope():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  )
+  CP.longitudinalTuning.kfDEPRECATED = 0.20
+
+  lc = LongControl(CP)
+  pedal_regen_limit = float(longcontrol.interp(4.73, longcontrol.BOLT_ACC_PEDAL_REGEN_LIMIT_BP,
+                                               longcontrol.BOLT_ACC_PEDAL_REGEN_LIMIT_V))
+  expected = pedal_regen_limit * 0.20 + (-3.22 - pedal_regen_limit)
+
+  assert lc._get_longitudinal_feedforward(-3.22, 4.73) == pytest.approx(expected)
+
+
+def test_bolt_cc_pedal_friction_feedforward_remains_fully_scaled_by_kf():
+  CP = make_longcontrol_cp(
+    brand="gm",
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    carFingerprint=CAR.CHEVROLET_BOLT_CC_2022_2023,
+  )
+  CP.longitudinalTuning.kfDEPRECATED = 0.20
+
+  lc = LongControl(CP)
+
+  assert lc._get_longitudinal_feedforward(-3.22, 4.73) == pytest.approx(-0.644)
+
+
 def test_gm_stock_truck_positive_i_bleeds_on_coast_request():
   CP = car.CarParams.new_message()
   CP.brand = "gm"