Improve Hyundai long control, and conform to longcontrol API boundaries (#25696)

* Variety of experimental improvements

* fix start accel

* typo

* No jerk, no go

* Set jerk limit lower

* Update ref
old-commit-hash: da6c7311a38b1206be5443f8447f5424458671a5

selfdrive/car/hyundai/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
@@ -123,12 +123,9 @@ class CarController:
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         accel = actuators.accel
-        jerk = 0
 
-        if CC.longActive:
-          jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
-          if accel < 0:
-            accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
+        #TODO unclear if this is needed
+        jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
 
         accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 

selfdrive/car/hyundai/hyundaican.py

@@ -94,7 +94,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_speed, stopping, gas_pressed):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, gas_pressed):
   commands = []
 
   scc11_values = {
@@ -102,12 +102,12 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
     "TauGapSet": 4,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
-    "ObjValid": 0,  # TODO: these two bits may allow for better longitudinal control
-    "ACC_ObjStatus": 0,
+    "ObjValid": 1, # close lead makes controls tighter
+    "ACC_ObjStatus": 1, # close lead makes controls tighter
     "ACC_ObjLatPos": 0,
     "ACC_ObjRelSpd": 0,
-    "ACC_ObjDist": 0,
-  }
+    "ACC_ObjDist": 1, # close lead makes controls tighter
+    }
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
   scc12_values = {
@@ -125,8 +125,8 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
   scc14_values = {
     "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
     "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
-    "JerkUpperLimit": max(jerk, 1.0) if not stopping else 0, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": max(-jerk, 1.0), # stock usually is 0.5 but sometimes uses higher values
+    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
+    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
     "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }

selfdrive/car/hyundai/interface.py

@@ -43,13 +43,15 @@ class CarInterface(CarInterfaceBase):
     tire_stiffness_factor = 1.
 
     ret.stoppingControl = True
-    ret.vEgoStopping = 1.0
+    ret.startingState = True
+    ret.vEgoStarting = 0.1
+    ret.startAccel = 2.0
 
-    ret.longitudinalTuning.kpV = [0.1]
+    ret.longitudinalTuning.kpV = [0.5]
     ret.longitudinalTuning.kiV = [0.0]
-    ret.stopAccel = 0.0
 
-    ret.longitudinalActuatorDelayUpperBound = 1.0  # s
+    ret.longitudinalActuatorDelayLowerBound = 0.5  # s
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-8137b41a0520d2b4a0ca223f9934957ae21695e5
+bd712b78c1ef351343b60e7ea527d09583e8acb7