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firestar5683
2026-05-01 13:09:43 -05:00
parent 900bb97459
commit 86f5102158
2 changed files with 23 additions and 18 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+15 -10
View File
@@ -24,8 +24,9 @@ CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
CANFD_BLINKER_STALKS_STALE_NS = 200_000_000
HYUNDAI_CANFD_SCC_ACCEL_STEP = 5.0 / 50.0
HYUNDAI_CANFD_SCC_DECEL_STEP = 12.5 / 50.0
IONIQ_6_CANFD_SCC_ACCEL_STEP = 6.0 / 50.0
IONIQ_6_CANFD_SCC_DECEL_STEP = 15.0 / 50.0
IONIQ_6_RESPONSE_MULTIPLIER = 1.2
IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5]
GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.12, -0.12, -0.14, -0.18, -0.36, -0.72]
GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5]
@@ -34,10 +35,12 @@ GENESIS_G90_RELEASE_SPEED_BP = [0.0, 0.3, 0.6]
GENESIS_G90_RELEASE_ACCEL_STEP_V = [0.24, 0.20, 0.14]
GENESIS_G90_RELEASE_DECEL_STEP_V = [0.30, 0.24, 0.18]
GENESIS_G90_RELEASE_MAX_SPEED = 0.8
IONIQ_6_LONG_MIN_JERK = 0.5
IONIQ_6_LONG_JERK_LIMIT = 4.8
IONIQ_6_LONG_MIN_JERK = 0.5 * IONIQ_6_RESPONSE_MULTIPLIER
IONIQ_6_LONG_JERK_LIMIT = 4.8 * IONIQ_6_RESPONSE_MULTIPLIER
IONIQ_6_LONG_LOOKAHEAD_JERK_BP = [2.0, 5.0, 20.0]
IONIQ_6_LONG_LOOKAHEAD_JERK_V = [0.3, 0.45, 0.6]
IONIQ_6_LONG_LOOKAHEAD_JERK_V = [0.3 / IONIQ_6_RESPONSE_MULTIPLIER,
0.45 / IONIQ_6_RESPONSE_MULTIPLIER,
0.6 / IONIQ_6_RESPONSE_MULTIPLIER]
IONIQ_6_DYNAMIC_LOWER_JERK_BP = [-2.0, -1.5, -1.0, -0.25, -0.1, -0.025, -0.01, -0.005]
IONIQ_6_DYNAMIC_LOWER_JERK_V = [3.3, 1.5, 1.0, 0.8, 0.7, 0.65, 0.55, 0.5]
IONIQ_6_LAUNCH_HOLD_SPEED_BP = [0.0, 0.6, 1.25, 2.5]
@@ -45,7 +48,9 @@ IONIQ_6_LAUNCH_HOLD_SPEED_V = [0.75, 0.6, 0.4, 0.0]
IONIQ_6_STOP_HOLD_SPEED_BP = [0.0, 0.25, 0.6, 1.2]
IONIQ_6_STOP_HOLD_SPEED_V = [-0.12, -0.10, -0.05, 0.0]
IONIQ_6_STOP_RELEASE_JERK_BP = [0.0, 0.15, 0.5]
IONIQ_6_STOP_RELEASE_JERK_V = [3.6, 4.2, 4.8]
IONIQ_6_STOP_RELEASE_JERK_V = [3.6 * IONIQ_6_RESPONSE_MULTIPLIER,
4.2 * IONIQ_6_RESPONSE_MULTIPLIER,
4.8 * IONIQ_6_RESPONSE_MULTIPLIER]
@dataclass
@@ -113,8 +118,8 @@ def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, acc
(state.long_control_state_last == LongCtrlState.starting and long_control_state == LongCtrlState.pid and v_ego < IONIQ_6_LAUNCH_HOLD_SPEED_BP[-1]):
state.launch_active = True
upper_speed_limit = float(np.interp(v_ego, [0.0, 5.0, 20.0], [2.0, 3.0, 2.0])) if long_control_state == LongCtrlState.pid else IONIQ_6_LONG_MIN_JERK
lower_speed_limit = float(np.interp(v_ego, [0.0, 5.0, 20.0], [5.0, 3.5, 3.0]))
upper_speed_limit = float(np.interp(v_ego, [0.0, 5.0, 20.0], [2.0, 3.0, 2.0])) * IONIQ_6_RESPONSE_MULTIPLIER if long_control_state == LongCtrlState.pid else IONIQ_6_LONG_MIN_JERK
lower_speed_limit = float(np.interp(v_ego, [0.0, 5.0, 20.0], [5.0, 3.5, 3.0])) * IONIQ_6_RESPONSE_MULTIPLIER
future_t_upper = float(np.interp(v_ego, IONIQ_6_LONG_LOOKAHEAD_JERK_BP, IONIQ_6_LONG_LOOKAHEAD_JERK_V))
future_t_lower = float(np.interp(v_ego, IONIQ_6_LONG_LOOKAHEAD_JERK_BP, IONIQ_6_LONG_LOOKAHEAD_JERK_V))
@@ -131,12 +136,12 @@ def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, acc
if state.stopping:
state.desired_accel = float(np.interp(v_ego, IONIQ_6_STOP_HOLD_SPEED_BP, IONIQ_6_STOP_HOLD_SPEED_V))
state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, [0.0, 1.2], [0.45, 0.65])))
state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, [0.0, 1.2], [0.45, 0.65])) * IONIQ_6_RESPONSE_MULTIPLIER)
else:
state.desired_accel = float(np.clip(accel_cmd, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
if state.launch_active:
state.desired_accel = max(state.desired_accel, float(np.interp(v_ego, IONIQ_6_LAUNCH_HOLD_SPEED_BP, IONIQ_6_LAUNCH_HOLD_SPEED_V)))
state.jerk_upper = max(state.jerk_upper, float(np.interp(v_ego, [0.0, 2.5], [4.8, 3.2])))
state.jerk_upper = max(state.jerk_upper, float(np.interp(v_ego, [0.0, 2.5], [4.8, 3.2])) * IONIQ_6_RESPONSE_MULTIPLIER)
state.jerk_lower = max(state.jerk_lower, 1.0)
if restart_from_stop:
state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, IONIQ_6_STOP_RELEASE_JERK_BP, IONIQ_6_STOP_RELEASE_JERK_V)))
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+8 -8
View File
@@ -249,9 +249,9 @@ class TestHyundaiFingerprint:
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.5, v_ego=10.0, a_ego=0.0,
long_control_state=LongCtrlState.pid, long_active=True)
assert state.desired_accel == pytest.approx(1.5)
assert state.jerk_upper == pytest.approx(2.6666666667)
assert state.jerk_lower == pytest.approx(0.5)
assert state.actual_accel == pytest.approx(0.1333333333)
assert state.jerk_upper == pytest.approx(3.2)
assert state.jerk_lower == pytest.approx(0.6)
assert state.actual_accel == pytest.approx(0.16)
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=10.0, a_ego=0.0,
long_control_state=LongCtrlState.stopping, long_active=True)
@@ -282,15 +282,15 @@ class TestHyundaiFingerprint:
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=0.0, a_ego=0.0,
long_control_state=LongCtrlState.starting, long_active=True)
assert state.launch_active
assert state.actual_accel == pytest.approx(0.24)
assert state.jerk_upper == pytest.approx(4.8)
assert state.actual_accel == pytest.approx(0.288)
assert state.jerk_upper == pytest.approx(5.76)
assert state.jerk_lower == pytest.approx(1.0)
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=0.3, v_ego=0.25, a_ego=1.2,
long_control_state=LongCtrlState.pid, long_active=True)
assert state.launch_active
assert state.desired_accel > 0.3
assert state.actual_accel > 0.24
assert state.actual_accel > 0.288
def test_ioniq_6_longitudinal_tuning_helper_softens_stop_release_handoff(self):
state = Ioniq6LongitudinalTuningState(actual_accel=-0.12, accel_last=-0.12,
@@ -299,11 +299,11 @@ class TestHyundaiFingerprint:
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=0.0, a_ego=0.0,
long_control_state=LongCtrlState.starting, long_active=True)
assert state.actual_accel == pytest.approx(0.06)
assert state.actual_accel == pytest.approx(0.096)
state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=0.0, a_ego=0.0,
long_control_state=LongCtrlState.starting, long_active=True)
assert state.actual_accel == pytest.approx(0.24)
assert state.actual_accel == pytest.approx(0.312)
def test_genesis_g90_longitudinal_tuning_softens_final_stop_hold(self):
state = GenesisG90LongitudinalTuningState()