GM HKG

2026-07-15 14:22:11 +08:00 · 2026-04-23 18:11:32 -05:00
parent 3da859226c
commit 08f5e15a95
7 changed files with 164 additions and 9 deletions
@@ -35,6 +35,12 @@ def calculate_canfd_speed_limit(CP, FPCP, cp, cp_cam, speed_factor):


 class CarState(CarStateBase):
+  @staticmethod
+  def get_canfd_blinker_sig_names(car_fingerprint, use_alt_lamp: bool) -> tuple[str, str]:
+    if use_alt_lamp or car_fingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
+      return "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+    return "LEFT_LAMP", "RIGHT_LAMP"
+
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
    can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
@@ -272,10 +278,8 @@ class CarState(CarStateBase):
    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0

-    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
-    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
-      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
+    left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint,
+                                                                           cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1)
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                      cp.vl["BLINKERS"][right_blinker_sig])
    if self.CP.enableBsm:
@@ -5,6 +5,7 @@ import pytest
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
+from opendbc.car.hyundai.carstate import CarState
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -114,6 +115,11 @@ class TestHyundaiFingerprint:
      assert len(ecus_not_in_whitelist) == 0, \
                       f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"

+  def test_canfd_blinker_signal_selection(self):
+    assert CarState.get_canfd_blinker_sig_names(CAR.KIA_SPORTAGE_HEV_2026, True) == ("LEFT_LAMP_ALT", "RIGHT_LAMP_ALT")
+    assert CarState.get_canfd_blinker_sig_names(CAR.HYUNDAI_KONA_EV_2ND_GEN, False) == ("LEFT_LAMP_ALT", "RIGHT_LAMP_ALT")
+    assert CarState.get_canfd_blinker_sig_names(CAR.KIA_EV6, False) == ("LEFT_LAMP", "RIGHT_LAMP")
+
  def test_blacklisted_parts(self, subtests):
    # Asserts no ECUs known to be shared across platforms exist in the database.
    # Tucson having Santa Cruz camera and EPS for example
@@ -3,7 +3,7 @@ from dataclasses import dataclass, field
 from enum import IntFlag

 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
-from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
+from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
@@ -21,7 +21,7 @@ class CarControllerParams:
    ([], []),
    ([], []),
    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
-    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
+    MAX_LATERAL_JERK=ISO_LATERAL_JERK + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
    MAX_ANGLE_RATE=5,
  )
  ANGLE_MAX_TORQUE_REDUCTION_GAIN = 1.0
@@ -67,6 +67,9 @@ VOLT_STANDARD_CARS = (
 GENESIS_G90_CARS = (
  HYUNDAI_CAR.GENESIS_G90,
 )
+IONIQ_6_CARS = (
+  HYUNDAI_CAR.HYUNDAI_IONIQ_6,
+)
 KIA_EV6_CARS = (
  HYUNDAI_CAR.KIA_EV6,
 )
@@ -198,6 +201,32 @@ GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.08
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.07
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.11

+IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
+IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
+IONIQ_6_FF_GAIN_LEFT = 0.04
+IONIQ_6_FF_GAIN_RIGHT = 0.015
+IONIQ_6_FF_ONSET = 0.10
+IONIQ_6_FF_ONSET_WIDTH = 0.04
+IONIQ_6_FF_CUTOFF = 0.72
+IONIQ_6_FF_CUTOFF_WIDTH = 0.18
+IONIQ_6_TRANSITION_SPEED = 10.0
+IONIQ_6_PHASE_SCALE = 0.10
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.34
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.28
+IONIQ_6_UNWIND_TAPER_LEFT = 0.24
+IONIQ_6_UNWIND_TAPER_RIGHT = 0.38
+IONIQ_6_FRICTION_MULT = 0.995
+IONIQ_6_FRICTION_LAT_RISE = 0.20
+IONIQ_6_FRICTION_JERK_RISE = 0.24
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.18
+
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
 KIA_EV6_FF_GAIN_LEFT = 0.07
@@ -629,6 +658,78 @@ def get_genesis_g90_friction_scale(v_ego: float, desired_lateral_accel: float, d
  return min(max(friction_scale, 0.92), 1.12)


+def ioniq_6_lateral_testing_ground_active() -> bool:
+  return testing_ground.use(IONIQ_6_LATERAL_TESTING_GROUND_ID, IONIQ_6_LATERAL_TESTING_GROUND_VARIANT)
+
+
+def _ioniq_6_sigmoid(x: float) -> float:
+  return _sigmoid(x)
+
+
+def _ioniq_6_low_speed_factor(v_ego: float) -> float:
+  return 1.0 / (1.0 + (max(v_ego, 0.0) / IONIQ_6_TRANSITION_SPEED) ** 2)
+
+
+def _ioniq_6_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  return math.tanh((desired_lateral_accel * desired_lateral_jerk) / IONIQ_6_PHASE_SCALE)
+
+
+def _ioniq_6_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 _ioniq_6_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / IONIQ_6_FRICTION_LAT_RISE)
+  jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / IONIQ_6_FRICTION_JERK_RISE)
+  return _ioniq_6_low_speed_factor(v_ego) * lat_factor * jerk_factor
+
+
+def get_ioniq_6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
+  if desired_lateral_accel == 0.0:
+    return 1.0
+
+  gain = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_FF_GAIN_LEFT, IONIQ_6_FF_GAIN_RIGHT)
+  abs_lateral_accel = abs(desired_lateral_accel)
+  onset = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_FF_ONSET) / IONIQ_6_FF_ONSET_WIDTH)
+  cutoff = _ioniq_6_sigmoid((IONIQ_6_FF_CUTOFF - abs_lateral_accel) / IONIQ_6_FF_CUTOFF_WIDTH)
+  extra_scale = gain * onset * cutoff
+  phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  low_speed_factor = _ioniq_6_low_speed_factor(v_ego)
+  turn_in_boost = 1.0 + (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_TURN_IN_BOOST_LEFT, IONIQ_6_TURN_IN_BOOST_RIGHT) *
+                          turn_in_weight * low_speed_factor)
+  unwind_taper = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_TAPER_LEFT, IONIQ_6_UNWIND_TAPER_RIGHT) *
+                         unwind_weight * (0.30 + 0.70 * low_speed_factor))
+  return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
+
+
+def get_ioniq_6_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
+  base_threshold = get_friction_threshold(v_ego)
+  transition_envelope = _ioniq_6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  threshold_scale = 1.0 - (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT, IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
+                           transition_envelope * turn_in_weight)
+  threshold_scale += (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT, IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT) *
+                      transition_envelope * unwind_weight)
+  return base_threshold * min(max(threshold_scale, 0.82), 1.18)
+
+
+def get_ioniq_6_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
+  transition_envelope = _ioniq_6_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
+  phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
+  turn_in_weight = max(phase, 0.0)
+  unwind_weight = max(-phase, 0.0)
+  friction_scale = IONIQ_6_FRICTION_MULT
+  friction_scale += (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT, IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT) *
+                     transition_envelope * turn_in_weight)
+  friction_scale -= (_ioniq_6_side_value(desired_lateral_accel, IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT, IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT) *
+                     transition_envelope * unwind_weight)
+  return min(max(friction_scale, 0.82), 1.08)
+
+
 def kia_ev6_lateral_testing_ground_active() -> bool:
  return testing_ground.use(KIA_EV6_LATERAL_TESTING_GROUND_ID, KIA_EV6_LATERAL_TESTING_GROUND_VARIANT)

@@ -800,6 +901,7 @@ class LatControlTorque(LatControl):
    self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
    self.is_volt_standard = CP.carFingerprint in VOLT_STANDARD_CARS
    self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
+    self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
    self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
    self.is_volt_cc = CP.carFingerprint == GM_CAR.CHEVROLET_VOLT_CC
    self.is_silverado = CP.carFingerprint == GM_CAR.CHEVROLET_SILVERADO
@@ -887,6 +989,7 @@ class LatControlTorque(LatControl):
      bolt_2018_2021_tuned_path_active = self.is_bolt_2018_2021
      volt_standard_test_active = self.is_volt_standard and volt_standard_lateral_testing_ground_active()
      genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
+      ioniq_6_test_active = self.is_ioniq_6 and ioniq_6_lateral_testing_ground_active()
      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()
      volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
@@ -908,6 +1011,10 @@ class LatControlTorque(LatControl):
        ff *= get_genesis_g90_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+      elif ioniq_6_test_active:
+        ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
      elif kia_ev6_test_active:
        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -30,6 +30,9 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_genesis_g90_ff_scale,
  get_genesis_g90_friction_scale,
  get_genesis_g90_friction_threshold,
+  get_ioniq_6_ff_scale,
+  get_ioniq_6_friction_scale,
+  get_ioniq_6_friction_threshold,
  get_kia_ev6_ff_scale,
  get_kia_ev6_friction_scale,
  get_kia_ev6_friction_threshold,
@@ -202,6 +205,30 @@ class TestLatControl:
    assert right_turn_in > left_turn_in > base
    assert base > left_unwind > right_unwind

+  def test_ioniq_6_ff_scale_curve(self):
+    assert get_ioniq_6_ff_scale(0.0, 0.0, 20.0) == 1.0
+    assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
+    assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
+    assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
+    assert get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < get_ioniq_6_ff_scale(0.4, 0.0, 20.0)
+
+  def test_ioniq_6_friction_threshold_curve(self):
+    base = get_friction_threshold(6.0)
+    left_turn_in = get_ioniq_6_friction_threshold(6.0, 0.5, 0.8)
+    right_turn_in = get_ioniq_6_friction_threshold(6.0, -0.5, -0.8)
+    left_unwind = get_ioniq_6_friction_threshold(6.0, 0.5, -0.8)
+    right_unwind = get_ioniq_6_friction_threshold(6.0, -0.5, 0.8)
+    assert left_turn_in < right_turn_in < base < left_unwind < right_unwind
+
+  def test_ioniq_6_friction_scale_curve(self):
+    base = get_ioniq_6_friction_scale(25.0, 0.5, 0.8)
+    left_turn_in = get_ioniq_6_friction_scale(6.0, 0.5, 0.8)
+    right_turn_in = get_ioniq_6_friction_scale(6.0, -0.5, -0.8)
+    left_unwind = get_ioniq_6_friction_scale(6.0, 0.5, -0.8)
+    right_unwind = get_ioniq_6_friction_scale(6.0, -0.5, 0.8)
+    assert left_turn_in > right_turn_in > base
+    assert base > left_unwind > right_unwind
+
  def test_kia_ev6_ff_scale_curve(self):
    assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
    assert get_kia_ev6_ff_scale(-0.3, 0.0, 20.0) > get_kia_ev6_ff_scale(0.3, 0.0, 20.0)
@@ -280,6 +307,14 @@ class TestLatControl:

    assert lac_log.active

+  def test_ioniq_6_testing_ground_update_path(self, monkeypatch):
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
+    monkeypatch.setattr(latcontrol_torque, "ioniq_6_lateral_testing_ground_active", lambda: True)
+
+    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)
+
+    assert lac_log.active
+
  def test_kia_ev6_testing_ground_update_path(self, monkeypatch):
    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.KIA_EV6)
    monkeypatch.setattr(latcontrol_torque, "kia_ev6_lateral_testing_ground_active", lambda: True)
@@ -61,9 +61,10 @@ TESTING_GROUNDS_SLOT_DEFINITIONS = (
  },
  {
    "id": TESTING_GROUND_5,
-    "name": "Unused",
-    "description": "",
-    "aLabel": "A",
+    "name": "Ioniq 6 Lateral",
+    "description": "Hyundai Ioniq 6 lateral sandbox.",
+    "aLabel": "A - Installed tune",
+    "cLabel": "C - Firestar Tune",
  },
  {
    "id": TESTING_GROUND_6,
@@ -17,6 +17,8 @@ def test_hidden_testing_ground_selection_is_migrated(tmp_path, monkeypatch, hidd
  monkeypatch.setattr(tg, "TESTING_GROUNDS_STATE_PATH", state_path)
  monkeypatch.setattr(tg, "_CACHE_LAST_REFRESH", 0.0)
  monkeypatch.setattr(tg, "_CACHE_LAST_MTIME_NS", -1)
+  monkeypatch.setattr(tg, "_VISIBLE_TESTING_GROUND_IDS", tuple(slot_id for slot_id in tg.TESTING_GROUND_IDS if slot_id != hidden_slot_id))
+  monkeypatch.setattr(tg, "_DEFAULT_ACTIVE_SLOT", tg.TESTING_GROUND_1)
  monkeypatch.setattr(tg, "_CACHE_ACTIVE_SLOT", tg._DEFAULT_ACTIVE_SLOT)
  monkeypatch.setattr(tg, "_CACHE_ACTIVE_VARIANT", tg.DEFAULT_TESTING_GROUND_VARIANT)