VOLT NO CAM | IONIQ | KIA

2026-06-30 02:52:04 +08:00 · 2026-04-23 21:38:33 -05:00
parent 08f5e15a95
commit a6086fa798
5 changed files with 64 additions and 13 deletions
@@ -52,6 +52,8 @@ LEGACY_FORCED_CANDIDATE_MAP = {

 GM_CANDIDATE_PREFIXES = ("CHEVROLET_", "GMC_", "CADILLAC_", "BUICK_", "HOLDEN_")
 GM_CORE_FINGERPRINT_MSGS = frozenset((190, 201, 209, 211, 241))
+GM_CAMERA_BUS = 2
+GM_VOLT_CAMERA_MSG = 0x320


 def _normalize_forced_candidate(candidate: str | None) -> str | None:
@@ -106,6 +108,19 @@ def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int,
  return candidate


+def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int, dict]) -> str | None:
+  cam = fingerprints.get(GM_CAMERA_BUS, {})
+  has_live_camera_msg = GM_VOLT_CAMERA_MSG in cam
+
+  if candidate == "CHEVROLET_VOLT_CAMERA" and not has_live_camera_msg:
+    return "CHEVROLET_VOLT"
+
+  if candidate == "CHEVROLET_VOLT" and has_live_camera_msg:
+    return "CHEVROLET_VOLT_CAMERA"
+
+  return candidate
+
+
 def _is_gm_candidate(candidate: str | None) -> bool:
  return isinstance(candidate, str) and candidate.startswith(GM_CANDIDATE_PREFIXES)

@@ -119,6 +134,7 @@ def _get_gm_stored_candidate_fallback(fingerprints: dict[int, dict], stored_cand
    return None

  for candidate in (_normalize_forced_candidate(stored_candidate), _normalize_forced_candidate(cached_candidate)):
+    candidate = _normalize_gm_volt_candidate(candidate, fingerprints)
    if _is_gm_candidate(candidate) and candidate != MOCK.MOCK and candidate in interfaces:
      return candidate

@@ -244,6 +260,7 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
            is_release: bool, params: Params, num_pandas: int = 1, cached_params: CarParamsT | None = None, starpilot_toggles: SimpleNamespace = None):
  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
  candidate = _normalize_gm_bolt_candidate(candidate, fingerprints)
+  candidate = _normalize_gm_volt_candidate(candidate, fingerprints)
  candidate = _normalize_forced_candidate(candidate)
  fingerprinted_candidate = candidate
  stored_candidate = _normalize_forced_candidate(params.get("CarModel"))
@@ -25,7 +25,7 @@ class CarControllerParams:
    MAX_ANGLE_RATE=5,
  )
  ANGLE_MAX_TORQUE_REDUCTION_GAIN = 1.0
-  ANGLE_MIN_TORQUE_REDUCTION_GAIN = 0.1
+  ANGLE_MIN_TORQUE_REDUCTION_GAIN = 0.6
  ANGLE_ACTIVE_TORQUE_REDUCTION_GAIN = 0.6

  def __init__(self, CP, vEgoRaw=100.):
@@ -70,6 +70,20 @@ class TestCanFingerprint:

    assert candidate == "CHEVROLET_VOLT_CC"

+  def test_gm_stored_candidate_fallback_demotes_volt_camera_without_live_camera_msg(self):
+    fingerprints = {0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6}, 2: {}}
+
+    candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT_CAMERA", None)
+
+    assert candidate == "CHEVROLET_VOLT"
+
+  def test_gm_stored_candidate_fallback_promotes_volt_when_live_camera_msg_present(self):
+    fingerprints = {0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6}, 2: {0x320: 3}}
+
+    candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT", None)
+
+    assert candidate == "CHEVROLET_VOLT_CAMERA"
+
  def test_gm_stored_candidate_fallback_ignores_non_gm_fingerprint(self):
    fingerprints = {0: {1: 1, 2: 2, 3: 3, 4: 4}}

@@ -207,25 +207,30 @@ IONIQ_6_FF_GAIN_LEFT = 0.04
 IONIQ_6_FF_GAIN_RIGHT = 0.015
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
-IONIQ_6_FF_CUTOFF = 0.72
-IONIQ_6_FF_CUTOFF_WIDTH = 0.18
+IONIQ_6_FF_CUTOFF = 0.60
+IONIQ_6_FF_CUTOFF_WIDTH = 0.14
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
-IONIQ_6_TURN_IN_BOOST_LEFT = 0.34
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.28
-IONIQ_6_UNWIND_TAPER_LEFT = 0.24
-IONIQ_6_UNWIND_TAPER_RIGHT = 0.38
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.38
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.32
+IONIQ_6_UNWIND_TAPER_LEFT = 0.34
+IONIQ_6_UNWIND_TAPER_RIGHT = 0.54
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.24
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.36
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.18
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.28
+IONIQ_6_CENTER_TAPER_MAX = 0.05
+IONIQ_6_CENTER_TAPER_LAT = 0.10
+IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
+IONIQ_6_CENTER_TAPER_SPEED = 20.0
+IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5

 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
@@ -730,6 +735,13 @@ def get_ioniq_6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
  return min(max(friction_scale, 0.82), 1.08)


+def get_ioniq_6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_CENTER_TAPER_SPEED) / IONIQ_6_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _ioniq_6_sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_CENTER_TAPER_LAT_WIDTH)
+  reduction = IONIQ_6_CENTER_TAPER_MAX * speed_weight * center_weight
+  return 1.0 - reduction
+
+
 def kia_ev6_lateral_testing_ground_active() -> bool:
  return testing_ground.use(KIA_EV6_LATERAL_TESTING_GROUND_ID, KIA_EV6_LATERAL_TESTING_GROUND_VARIANT)

@@ -993,6 +1005,7 @@ class LatControlTorque(LatControl):
      kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
      volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
      volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
+      ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_test_active else 1.0
      friction_threshold = get_friction_threshold(CS.vEgo)
      friction_scale = 1.0
      if bolt_2022_2023_tuned_path_active:
@@ -1012,9 +1025,10 @@ class LatControlTorque(LatControl):
        friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
      elif ioniq_6_test_active:
-        ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
-        friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
+        ff *= get_ioniq_6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_6_center_taper
+        friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
        friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
      elif kia_ev6_test_active:
        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -30,6 +30,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_genesis_g90_ff_scale,
  get_genesis_g90_friction_scale,
  get_genesis_g90_friction_threshold,
+  get_ioniq_6_center_taper_scale,
  get_ioniq_6_ff_scale,
  get_ioniq_6_friction_scale,
  get_ioniq_6_friction_threshold,
@@ -229,6 +230,11 @@ class TestLatControl:
    assert left_turn_in > right_turn_in > base
    assert base > left_unwind > right_unwind

+  def test_ioniq_6_center_taper_curve(self):
+    assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)
+    assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
+    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1e-3
+
  def test_kia_ev6_ff_scale_curve(self):
    assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
    assert get_kia_ev6_ff_scale(-0.3, 0.0, 20.0) > get_kia_ev6_ff_scale(0.3, 0.0, 20.0)