EV6 GT

opendbc_repo/opendbc/car/car_helpers.py

@@ -334,6 +334,9 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   CP.carFw = car_fw
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
+  post_fingerprint_params = getattr(CarInterface, "apply_post_fingerprint_params", None)
+  if post_fingerprint_params is not None:
+    post_fingerprint_params(CP, candidate, fingerprints, car_fw)
 
   FPCP: StarPilotCarParams = CarInterface.get_starpilot_params(candidate, fingerprints, car_fw, CP, starpilot_toggles)
 

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -8,7 +8,8 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                        kia_ev6_gt_line_longitudinal_tuning
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
@@ -65,6 +66,11 @@ REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
 ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
 
 
+def egmp_dynamic_longitudinal_tuning(CP) -> bool:
+  return CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 or \
+    kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
+
+
 @dataclass
 class Ioniq6LongitudinalTuningState:
   desired_accel: float = 0.0
@@ -426,22 +432,22 @@ class CarController(CarControllerBase):
     # longitudinal messages - stock ECU is still active and these would conflict
     self.long_active_ecu = self.CP.openpilotLongitudinalControl and not self.ecu_disable_failed
 
-    use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
-                                      actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
-    if use_ioniq_6_dynamic_long_tuning and self.frame % 5 == 0:
+    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:
       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)
-    use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and (
+    use_egmp_smoothed_accel = use_egmp_dynamic_long_tuning and (
       accel_cmd >= self._ioniq_6_long_tuning.actual_accel or
       self._ioniq_6_long_tuning.launch_active or
       self._ioniq_6_long_tuning.stopping
     )
-    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu:
-      if use_ioniq_6_smoothed_accel:
+    if use_egmp_dynamic_long_tuning:
+      if use_egmp_smoothed_accel:
         accel = self._ioniq_6_long_tuning.actual_accel
         stopping = self._ioniq_6_long_tuning.stopping
-      elif use_ioniq_6_dynamic_long_tuning:
+      else:
         accel = float(np.clip(accel_cmd,
                               self.accel_last - IONIQ_6_CANFD_SCC_DECEL_STEP,
                               self.accel_last + IONIQ_6_CANFD_SCC_ACCEL_STEP))
@@ -566,9 +572,13 @@ class CarController(CarControllerBase):
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     lka_steering_long = lka_steering and self.long_active_ecu
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
-    use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
-                                      CC.actuators.longControlState == LongCtrlState.pid
-    use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
+    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
+                                   CC.actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
+    use_egmp_smoothed_accel = use_egmp_dynamic_long_tuning and (
+      CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel or
+      self._ioniq_6_long_tuning.launch_active or
+      self._ioniq_6_long_tuning.stopping
+    )
 
     # steering control
     preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and not self.long_active_ecu
@@ -656,8 +666,8 @@ class CarController(CarControllerBase):
           "lead_rel_speed": lead_rel_speed,
           "lead_visible": lead_visible,
         }
-        if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
-          if use_ioniq_6_smoothed_accel:
+        if use_egmp_dynamic_long_tuning:
+          if use_egmp_smoothed_accel:
             acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
             acc_kwargs["jerk_upper"] = self._ioniq_6_long_tuning.jerk_upper
         can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -9,7 +9,8 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
                                                    HyundaiStarPilotSafetyFlags, \
-                                                   hyundai_cancel_button_enables_cruise
+                                                   hyundai_cancel_button_enables_cruise, \
+                                                   kia_ev6_gt_line_longitudinal_tuning
 from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
 from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
 from opendbc.car.disable_ecu import disable_ecu, ecu_log
@@ -40,6 +41,12 @@ def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
   ret.stoppingDecelRate = 0.4
 
 
+def apply_kia_ev6_gt_line_longitudinal_params(ret: structs.CarParams) -> None:
+  ret.startAccel = 1.4
+  ret.longitudinalActuatorDelay = 0.35
+  ret.vEgoStarting = 0.5
+
+
 def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
   params.put_bool("EcuDisableFailed", True)
   CP.safetyConfigs[-1].safetyParam &= ~HyundaiSafetyFlags.LONG.value
@@ -68,6 +75,11 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
+  @staticmethod
+  def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
+    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
+      apply_kia_ev6_gt_line_longitudinal_params(CP)
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "hyundai"

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

@@ -9,7 +9,7 @@ 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
+                                             update_genesis_g90_longitudinal_tuning, egmp_dynamic_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
@@ -20,7 +20,7 @@ from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          LEGACY_LONGITUDINAL_CAR, CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotSafetyFlags, Buttons
+                                         HyundaiStarPilotSafetyFlags, Buttons, kia_ev6_gt_line_longitudinal_tuning
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -527,6 +527,34 @@ class TestHyundaiFingerprint:
     assert CP.longitudinalActuatorDelay == pytest.approx(0.5)
     assert CP.startingState
 
+  def test_kia_ev6_gt_line_post_fingerprint_longitudinal_params(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
+    CP.carVin = "KNDC4DLC0P0000000"
+
+    CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
+
+    assert CP.startAccel == pytest.approx(1.4)
+    assert CP.vEgoStarting == pytest.approx(0.5)
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.35)
+    assert CP.vEgoStopping == pytest.approx(0.3)
+    assert CP.stoppingDecelRate == pytest.approx(0.4)
+    assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin)
+    assert egmp_dynamic_longitudinal_tuning(CP)
+
+  def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
+    CP.carVin = "KNDC3DLC0P0000000"
+
+    CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
+
+    assert CP.startAccel == pytest.approx(1.0)
+    assert CP.vEgoStarting == pytest.approx(0.1)
+    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)
+
   def test_genesis_g90_longitudinal_params_bias_toward_earlier_stop_handoff(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], True, False, False, toggles)

opendbc_repo/opendbc/car/hyundai/values.py

@@ -914,6 +914,10 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
   CAR.HYUNDAI_PALISADE_2023,
 })
 
+KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
+  "C4DLC",
+})
+
 
 # These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
 # Keep G90 excluded until its alt-bus path is route-proven without the recent
@@ -933,6 +937,11 @@ def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
 
+def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
+  return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
+    len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+
+
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
   # Returns unique, platform-specific identification codes for a set of versions
   codes = set()  # (code-Optional[part], date)