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Honda Civic 2022: match stock Auto Idle Stop behavior (#27722)

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* honda_idlestop_timer

* whoops

* simplify

* just use stopping counter and move bosch radarless specific logic into the function

* it's actually 4 seconds

* Update selfdrive/car/honda/hondacan.py

* check equal to 0

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: e377305ea84dc6e50367f500897f553376583728
This commit is contained in:
royjr
2023-03-29 22:04:33 -04:00
committed by GitHub
parent f6e3dc289c
commit 37a03aa6eb
2 changed files with 7 additions and 5 deletions
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selfdrive/car/honda/carcontroller.py
+3 -1
View File
@@ -116,6 +116,7 @@ class CarController:
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.stopping_counter = 0
self.accel = 0.0
self.speed = 0.0
@@ -217,8 +218,9 @@ class CarController:
self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
stopping, self.CP.carFingerprint))
self.stopping_counter, self.CP.carFingerprint))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
selfdrive/car/honda/hondacan.py
+4 -4
View File
@@ -51,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
return packer.make_can_msg("BRAKE_COMMAND", bus, values)
def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
commands = []
bus = get_pt_bus(car_fingerprint)
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -60,8 +60,8 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
gas_command = gas if active and accel > min_gas_accel else -30000
accel_command = accel if active else 0
braking = 1 if active and accel < min_gas_accel else 0
standstill = 1 if active and stopping else 0
standstill_release = 1 if active and not stopping else 0
standstill = 1 if active and stopping_counter > 0 else 0
standstill_release = 1 if active and stopping_counter == 0 else 0
# common ACC_CONTROL values
acc_control_values = {
@@ -72,7 +72,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
if car_fingerprint in HONDA_BOSCH_RADARLESS:
acc_control_values.update({
"CONTROL_ON": enabled,
"IDLESTOP_ALLOW": 0, # disallows idle stop
"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
})
else:
acc_control_values.update({