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Speed only ACC control for NIDEC Odyssey (#22156)

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* speed only nidec control

* mergeable
old-commit-hash: 449a28b9aa0e9307124961958b26c3a6125de023
This commit is contained in:
HaraldSchafer
2021-09-06 21:11:26 -07:00
committed by GitHub
parent 5bb5760a78
commit 745c8ce522
2 changed files with 17 additions and 7 deletions
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selfdrive/car/honda/carcontroller.py
+16 -7
View File
@@ -5,7 +5,7 @@ from selfdrive.controls.lib.drive_helpers import rate_limit
from common.numpy_fast import clip, interp
from selfdrive.car import create_gas_command
from selfdrive.car.honda import hondacan
from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, CarControllerParams
from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -183,16 +183,25 @@ class CarController():
# all of this is only relevant for HONDA NIDEC
max_accel = interp(CS.out.vEgo, P.NIDEC_MAX_ACCEL_BP, P.NIDEC_MAX_ACCEL_V)
# TODO this 1.44 is just to maintain previous behavior
pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
pcm_speed_BP = [-wind_brake,
-wind_brake*(3/4),
0.0,
0.1]
0.5]
# The Honda ODYSSEY seems to have different PCM_ACCEL
# msgs, is it other cars too?
if CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
pcm_speed_V = [0.0,
clip(CS.out.vEgo - 3.0, 0.0, 100.0),
clip(CS.out.vEgo + 0.0, 0.0, 100.0),
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_accel = int((1.0) * 0xc6)
else:
pcm_speed_V = [0.0,
clip(CS.out.vEgo - 2.0, 0.0, 100.0),
clip(CS.out.vEgo + 2.0, 0.0, 100.0),
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
pcm_speed_V = [0.0,
clip(CS.out.vEgo + accel/2.0 - 2.0, 0.0, 100.0),
clip(CS.out.vEgo + accel/2.0 + 2.0, 0.0, 100.0),
clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
if not CS.CP.openpilotLongitudinalControl:
selfdrive/car/honda/values.py
+1
View File
@@ -1272,5 +1272,6 @@ SPEED_FACTOR = {
CAR.HRV: 1.025,
}
HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])