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2019 hold

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This commit is contained in:
firestar5683
2026-06-20 00:05:25 -05:00
parent e50874baca
commit a7b7148c25
2 changed files with 51 additions and 10 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+19 -9
View File
@@ -38,6 +38,8 @@ AUTO_HOLD_DRIVE_GEARS = (
AUTO_HOLD_MIN_BRAKE = 80
AUTO_HOLD_MAX_BRAKE = 240
AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
AUTO_HOLD_STOPPED_SPEED = 0.02
AUTO_HOLD_2019_MIN_BRAKE = 100
VOLT_ONE_PEDAL_DECEL_BP = [0.5 * CV.MPH_TO_MS, 6.0 * CV.MPH_TO_MS]
VOLT_ONE_PEDAL_DECEL_V = [-1.0, -1.1]
VOLT_ONE_PEDAL_REGEN_PADDLE_DECEL_V = [-1.5, -1.6]
@@ -218,10 +220,17 @@ def supports_volt_one_pedal(CP, one_pedal_enabled: bool):
)
def estimate_auto_hold_brake(driver_brake: float, op_brake: float) -> int:
def estimate_auto_hold_brake(driver_brake: float, op_brake: float, CP=None) -> int:
driver_hold = np.interp(float(driver_brake), [8.0, 20.0, 40.0, 80.0], [80.0, 110.0, 150.0, 220.0])
hold_brake = max(float(op_brake), float(driver_hold))
return int(round(np.clip(hold_brake, AUTO_HOLD_MIN_BRAKE, AUTO_HOLD_MAX_BRAKE)))
min_brake = AUTO_HOLD_2019_MIN_BRAKE if getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_VOLT_2019 else AUTO_HOLD_MIN_BRAKE
return int(round(np.clip(hold_brake, min_brake, AUTO_HOLD_MAX_BRAKE)))
def get_auto_hold_stop_threshold(CP, auto_hold_engaged: bool) -> float:
if auto_hold_engaged and getattr(CP, "carFingerprint", None) == CAR.CHEVROLET_VOLT_2019:
return CarControllerParams.NEAR_STOP_BRAKE_PHASE
return AUTO_HOLD_STOPPED_SPEED
def get_volt_one_pedal_target_decel(v_ego: float) -> float:
@@ -247,8 +256,8 @@ def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, lon
def should_activate_auto_hold(hold_ready: bool, auto_hold_armed: bool, auto_hold_engaged: bool,
brake_pressed: bool, gas_pressed: bool, standstill: bool, long_active: bool,
regen_braking: bool, v_ego: float) -> bool:
stopped = standstill or v_ego < 0.02
regen_braking: bool, v_ego: float, stop_speed_threshold: float=AUTO_HOLD_STOPPED_SPEED) -> bool:
stopped = standstill or v_ego < stop_speed_threshold
return (
hold_ready and
(auto_hold_armed or auto_hold_engaged or brake_pressed) and
@@ -571,7 +580,7 @@ class CarController(CarControllerBase):
if CS.out.vEgo > 0.1 or CS.out.gasPressed or CS.out.gearShifter not in AUTO_HOLD_DRIVE_GEARS:
self.auto_hold_brake = 0
elif CS.out.brakePressed or stock_hold_apply_brake > 0:
self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake)
self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake, self.CP)
if self.frame % 25 == 0:
try:
@@ -667,6 +676,7 @@ class CarController(CarControllerBase):
CC.longActive,
CS.out.regenBraking,
CS.out.vEgo,
get_auto_hold_stop_threshold(self.CP, CS.auto_hold_engaged),
)
volt_one_pedal_braking = volt_one_pedal_active and self.volt_one_pedal_brake > 0
volt_one_pedal_hold_active = (
@@ -872,7 +882,7 @@ class CarController(CarControllerBase):
acc_engaged = CC.enabled
if auto_hold_active:
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake))
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake, self.CP))
hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
can_sends.append(gmcan.create_friction_brake_command(
@@ -881,7 +891,7 @@ class CarController(CarControllerBase):
CS.auto_hold_engaged = True
CS.auto_hold_fault_suppression_timer = 1.0
elif volt_one_pedal_hold_active:
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake))
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake, self.CP))
hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
can_sends.append(gmcan.create_friction_brake_command(
@@ -955,7 +965,7 @@ class CarController(CarControllerBase):
else:
if self.frame % 4 == 0 and auto_hold_active:
idx = (self.frame // 4) % 4
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake))
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake, self.CP))
hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
can_sends.append(gmcan.create_friction_brake_command(
@@ -965,7 +975,7 @@ class CarController(CarControllerBase):
CS.auto_hold_fault_suppression_timer = 1.0
elif self.frame % 4 == 0 and volt_one_pedal_hold_active:
idx = (self.frame // 4) % 4
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake))
hold_brake = max(self.volt_one_pedal_brake, self.auto_hold_brake or estimate_auto_hold_brake(0.0, self.volt_one_pedal_brake, self.CP))
hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
can_sends.append(gmcan.create_friction_brake_command(
opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
+32 -1
View File
@@ -39,6 +39,7 @@ from opendbc.car.gm.carcontroller import (
CarController,
estimate_auto_hold_brake,
get_adas_keepalive_step,
get_auto_hold_stop_threshold,
get_lka_steering_cmd_counter,
get_volt_one_pedal_target_decel,
get_testing_ground_1_brake_switch_bias,
@@ -55,7 +56,7 @@ from opendbc.car.gm.carcontroller import (
use_interceptor_sng_launch,
)
from opendbc.car.gm.gmcan import get_friction_brake_mode
from opendbc.car.gm.values import AccState, CAR, GMFlags
from opendbc.car.gm.values import AccState, CAR, CarControllerParams, GMFlags
from opendbc.car.structs import CarParams
from opendbc.car.common.conversions import Conversions as CV
@@ -237,6 +238,7 @@ def test_auto_hold_brake_estimate_uses_driver_or_op_brake_and_clamps():
assert estimate_auto_hold_brake(20.0, 40.0) == 110
assert estimate_auto_hold_brake(20.0, 160.0) == 160
assert estimate_auto_hold_brake(100.0, 400.0) == 240
assert estimate_auto_hold_brake(7.0, 0.0, SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)) == 100
def test_volt_one_pedal_requires_toggle_supported_volt_stock_safety_and_ev_transmission():
@@ -320,6 +322,35 @@ def test_auto_hold_activation_stays_latched_after_brake_release():
)
def test_volt_2019_auto_hold_engaged_uses_near_stop_creep_hysteresis():
CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_2019)
assert get_auto_hold_stop_threshold(CP, True) == CarControllerParams.NEAR_STOP_BRAKE_PHASE
assert should_activate_auto_hold(
True,
True,
True,
False,
False,
False,
False,
False,
0.05,
get_auto_hold_stop_threshold(CP, True),
)
assert not should_activate_auto_hold(
True,
True,
True,
False,
False,
False,
False,
False,
0.05,
)
def test_auto_hold_activation_blocks_when_long_is_active_or_motion_is_above_threshold():
assert not should_activate_auto_hold(
True,