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Merge Lexus UXH into TSS2 Corolla Hybrid (#21100)

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old-commit-hash: 2680537b4bf8f169b0233b88525e9fa8ee85a70f
This commit is contained in:
Adeeb Shihadeh
2021-06-01 14:56:53 -07:00
committed by GitHub
parent e19f758b91
commit 7ac7ec2094
3 changed files with 5 additions and 32 deletions
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selfdrive/car/toyota/interface.py
+1 -11
View File
@@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
# Improved longitudinal tune
if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2, CAR.LEXUS_UXH_TSS2]:
if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
@@ -308,16 +308,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_UXH_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.640
ret.steerRatio = 16.0
tire_stiffness_factor = 0.555
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.5], [0.15]]
ret.lateralTuning.pid.kf = 0.00007
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/toyota/values.py
+4 -20
View File
@@ -40,6 +40,7 @@ class CAR:
AVALONH_2019 = "TOYOTA AVALON HYBRID 2019"
RAV4_TSS2 = "TOYOTA RAV4 2019"
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
LEXUS_ES_TSS2 = "LEXUS ES 2019"
LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
@@ -52,7 +53,6 @@ class CAR:
LEXUS_NX = "LEXUS NX 2018"
LEXUS_NX_TSS2 = "LEXUS NX 2020"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
LEXUS_UXH_TSS2 = "LEXUS UX HYBRID 2019"
# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [
@@ -750,6 +750,7 @@ FW_VERSIONS = {
(Ecu.engine, 0x700, None): [
b'\x01896630ZJ1000\x00\x00\x00\x00',
b'\x01896630ZU8000\x00\x00\x00\x00',
b'\x01896637621000\x00\x00\x00\x00',
b'\x01896637624000\x00\x00\x00\x00',
b'\x01896637626000\x00\x00\x00\x00',
b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -800,6 +801,7 @@ FW_VERSIONS = {
b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
],
},
@@ -1634,23 +1636,6 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
(Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
},
CAR.LEXUS_UXH_TSS2: {
(Ecu.esp, 0x7b0, None): [
b'F152676303\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B76012\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896637621000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 15): [
b'\x018821F3301300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 109): [
b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
],
},
}
STEER_THRESHOLD = 100
@@ -1692,14 +1677,13 @@ DBC = {
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_UXH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
}
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_UXH_TSS2])
CAR.MIRAI, CAR.LEXUS_NX_TSS2])
NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
selfdrive/test/test_routes.py
-1
View File
@@ -114,7 +114,6 @@ routes = [
TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH),
TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
TestRoute("f33ec5db3dc94da9|2021-05-22--18-19-45", TOYOTA.LEXUS_UXH_TSS2),
TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2),
TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),