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firestar5683
2026-07-23 14:37:54 -05:00
parent bd6dced538
commit b72042042f
7 changed files with 53 additions and 15 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+3 -1
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@@ -28,6 +28,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
# Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
ECU_DISABLE_TIMESTAMP = 0.0
KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
KIA_EV9_ACCEL_MAX = 2.5
def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -80,7 +81,8 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return ACCEL_MIN, CarControllerParams.ACCEL_MAX
accel_max = KIA_EV9_ACCEL_MAX if CP.carFingerprint == CAR.KIA_EV9 else CarControllerParams.ACCEL_MAX
return ACCEL_MIN, accel_max
@staticmethod
def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+6 -2
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@@ -17,7 +17,7 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
direct_angle_request_allowed, get_angle_smoothing_alpha, \
should_use_ev6_gt_line_stop_direct_tracking
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
from opendbc.car.hyundai import hyundaican, hyundaicanfd
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
@@ -26,7 +26,7 @@ from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
LEGACY_LONGITUDINAL_CAR, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
HyundaiStarPilotSafetyFlags, Buttons, kia_ev6_gt_line_longitudinal_tuning
HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
LongCtrlState = CarControl.Actuators.LongControlState
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -1117,6 +1117,10 @@ class TestHyundaiFingerprint:
assert CP.startAccel == pytest.approx(0.2)
assert CP.vEgoStarting == pytest.approx(0.5)
assert CP.longitudinalActuatorDelay == pytest.approx(0.3)
assert CarInterface.get_pid_accel_limits(CP, 0.0, 0.0)[1] == pytest.approx(KIA_EV9_ACCEL_MAX)
ioniq_6_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
assert CarInterface.get_pid_accel_limits(ioniq_6_cp, 0.0, 0.0)[1] == pytest.approx(CarControllerParams.ACCEL_MAX)
def test_ioniq_6_longitudinal_tuning_helper_matches_dynamic_profile(self):
state = Ioniq6LongitudinalTuningState()
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+29 -9
View File
@@ -671,10 +671,15 @@ KIA_EV6_UNWIND_TAPER_LEFT = 0.56
KIA_EV6_UNWIND_TAPER_RIGHT = 0.54
KIA_EV6_BASE_UNWIND_TAPER_LEFT = 0.06
KIA_EV6_BASE_UNWIND_TAPER_RIGHT = 0.05
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT = 0.12
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT = 0.14
KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT = 0.15
KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT = 0.16
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT = 0.13
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT = 0.15
KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT = 0.17
KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT = 0.18
KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION = 0.55
KIA_EV6_JWARM_PHASE_STABILITY_SPEED = 10.0
KIA_EV6_JWARM_PHASE_STABILITY_SPEED_WIDTH = 1.8
KIA_EV6_JWARM_PHASE_STABILITY_JERK = 0.70
KIA_EV6_JWARM_PHASE_STABILITY_JERK_WIDTH = 0.18
KIA_EV6_FRICTION_MULT = 1.01
KIA_EV6_FRICTION_LAT_RISE = 0.18
KIA_EV6_FRICTION_JERK_RISE = 0.22
@@ -2433,6 +2438,16 @@ def _kia_ev6_transition_envelope(v_ego: float, desired_lateral_accel: float, des
return _kia_ev6_low_speed_factor(v_ego) * lat_factor * jerk_factor
def get_kia_ev6_jwarm_phase_confidence(v_ego: float, desired_lateral_jerk: float) -> float:
low_speed_weight = _kia_ev6_sigmoid(
(KIA_EV6_JWARM_PHASE_STABILITY_SPEED - v_ego) / KIA_EV6_JWARM_PHASE_STABILITY_SPEED_WIDTH
)
abrupt_transition_weight = _kia_ev6_sigmoid(
(abs(desired_lateral_jerk) - KIA_EV6_JWARM_PHASE_STABILITY_JERK) / KIA_EV6_JWARM_PHASE_STABILITY_JERK_WIDTH
)
return 1.0 - (KIA_EV6_JWARM_PHASE_STABILITY_MAX_REDUCTION * low_speed_weight * abrupt_transition_weight)
def get_kia_ev6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
if desired_lateral_accel == 0.0:
return 1.0
@@ -2463,17 +2478,22 @@ def get_kia_ev6_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: flo
) *
unwind_weight * (0.35 + 0.65 * low_speed_factor))
jwarm_tune = kia_ev6_lateral_testing_ground_active()
jwarm_phase_confidence = get_kia_ev6_jwarm_phase_confidence(v_ego, desired_lateral_jerk) if jwarm_tune else 0.0
base_turn_in_boost = 1.0 + ((_kia_ev6_side_value(
desired_lateral_accel,
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_LEFT,
KIA_EV6_JWARM_BASE_TURN_IN_BOOST_RIGHT,
) if jwarm_tune else 0.0) * turn_in_weight * onset * cutoff)
) if jwarm_tune else 0.0) *
jwarm_phase_confidence * turn_in_weight * onset * cutoff)
base_unwind_taper_left = _flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_left", KIA_EV6_BASE_UNWIND_TAPER_LEFT)
base_unwind_taper_right = _flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_right", KIA_EV6_BASE_UNWIND_TAPER_RIGHT)
if jwarm_tune:
base_unwind_taper_left += (KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT - base_unwind_taper_left) * jwarm_phase_confidence
base_unwind_taper_right += (KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT - base_unwind_taper_right) * jwarm_phase_confidence
base_unwind_taper = 1.0 - (_kia_ev6_side_value(
desired_lateral_accel,
KIA_EV6_JWARM_BASE_UNWIND_TAPER_LEFT if jwarm_tune else
_flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_left", KIA_EV6_BASE_UNWIND_TAPER_LEFT),
KIA_EV6_JWARM_BASE_UNWIND_TAPER_RIGHT if jwarm_tune else
_flm_vehicle_knob("hyundai_kia_ev6.base_unwind_taper_right", KIA_EV6_BASE_UNWIND_TAPER_RIGHT),
base_unwind_taper_left,
base_unwind_taper_right,
) * unwind_weight * onset * cutoff)
return (base_unwind_taper * base_turn_in_boost) + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
selfdrive/controls/tests/test_latcontrol.py
+12
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@@ -90,6 +90,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_kia_ev6_ff_scale,
get_kia_ev6_friction_scale,
get_kia_ev6_friction_threshold,
get_kia_ev6_jwarm_phase_confidence,
get_sonata_center_taper_scale,
get_sonata_ff_scale,
get_sonata_hybrid_center_taper_scale,
@@ -1203,6 +1204,17 @@ class TestLatControl:
assert get_kia_ev6_ff_scale(0.45, -0.7, 10.0) < normal_unwind_left - 0.07
assert get_kia_ev6_ff_scale(-0.45, 0.7, 10.0) < normal_unwind_right - 0.08
def test_kia_ev6_jwarm_abrupt_low_speed_phase_correction_is_bounded(self):
calm_low_speed = get_kia_ev6_jwarm_phase_confidence(6.0, 0.25)
abrupt_low_speed = get_kia_ev6_jwarm_phase_confidence(6.0, 1.40)
abrupt_high_speed = get_kia_ev6_jwarm_phase_confidence(18.0, 1.40)
assert abrupt_low_speed < calm_low_speed
assert abrupt_low_speed < abrupt_high_speed
assert 0.45 <= abrupt_low_speed < 0.60
assert calm_low_speed > 0.90
assert abrupt_high_speed > 0.98
def test_kia_ev6_center_taper_curve(self):
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.0, 10.0)
assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.20, 25.0) <= 1.0
starpilot/system/the_galaxy/assets/components/router.js
+1 -1
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@@ -1,7 +1,7 @@
import { html, reactive } from "/assets/vendor/arrow-core.js"
import { createBrowserHistory, createRouter } from "/assets/vendor/remix-router-1.3.1.js"
import { hideSidebar } from "/assets/js/utils.js"
import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-actions-1"
import { DeviceSettings } from "/assets/components/tools/device_settings.js?v=favorite-c4-hint-1"
import { ErrorLogs } from "/assets/components/tools/error_logs.js"
import { VehicleFeatures } from "/assets/components/tools/vehicle_features.js"
import { GalaxyPairing } from "/assets/components/tools/galaxy.js"
starpilot/system/the_galaxy/assets/components/tools/device_settings.js
+1 -1
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@@ -1376,7 +1376,7 @@ function renderFavoriteSlotsPanel() {
</label>
<label class="ds-favorite-switch">
<span>Show On-Road Button</span>
<span>On-Road Button (C4: tap invisible third)</span>
<input
type="checkbox"
class="ds-toggle"
starpilot/system/the_galaxy/templates/index.html
+1 -1
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@@ -46,7 +46,7 @@
<link rel="stylesheet" href="/assets/components/tools/tsk_manager.css">
<script type="module">
import("/assets/components/router.js?v=favorite-actions-1").catch((err) => {
import("/assets/components/router.js?v=favorite-c4-hint-1").catch((err) => {
console.error("[the_galaxy] bootstrap failed", err);
const target = document.getElementById("app") || document.body;
const pre = document.createElement("pre");