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firestar5683
2026-08-06 18:25:47 -05:00
parent 48d6adab46
commit bbbfc46601
16 changed files with 113 additions and 43 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+4
View File
@@ -88,6 +88,7 @@ class LatControlTorque(LatControl):
self.is_genesis_gv70 = CP.carFingerprint in GENESIS_GV70_CARS
self.is_palisade = CP.carFingerprint in PALISADE_CARS
self.is_prius = CP.carFingerprint in PRIUS_CARS
self.is_camry = CP.carFingerprint in CAMRY_CARS
self.is_rav4_prime = CP.carFingerprint in RAV4_PRIME_CARS
self.is_sienna_4th_gen = CP.carFingerprint in SIENNA_4TH_GEN_CARS
self.is_lexus_is = CP.carFingerprint in LEXUS_IS_CARS
@@ -257,6 +258,7 @@ class LatControlTorque(LatControl):
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
palisade_active = self.is_palisade
prius_active = self.is_prius
camry_active = self.is_camry
rav4_prime_active = self.is_rav4_prime
sienna_4th_gen_active = self.is_sienna_4th_gen
lexus_is_active = self.is_lexus_is
@@ -328,6 +330,8 @@ class LatControlTorque(LatControl):
friction_threshold = get_prius_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = get_prius_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * prius_center_taper)
elif camry_active:
friction_threshold = get_camry_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
elif rav4_prime_active:
ff *= get_rav4_prime_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_rav4_prime_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+27 -2
View File
@@ -144,6 +144,10 @@ PRIUS_CARS = (
TOYOTA_CAR.TOYOTA_PRIUS,
)
CAMRY_CARS = (
TOYOTA_CAR.TOYOTA_CAMRY,
)
RAV4_PRIME_CARS = (
TOYOTA_CAR.TOYOTA_RAV4_PRIME,
)
@@ -805,6 +809,12 @@ PRIUS_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.07
PRIUS_CENTER_FRICTION_THRESHOLD_SPEED = 18.0
PRIUS_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 2.2
CAMRY_CENTER_FRICTION_THRESHOLD_GAIN = 0.06
CAMRY_CENTER_FRICTION_THRESHOLD_LAT = 0.22
CAMRY_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.06
CAMRY_CENTER_FRICTION_THRESHOLD_SPEED = 25.0
CAMRY_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 3.0
RAV4_PRIME_PHASE_SCALE = 0.12
RAV4_PRIME_TURN_IN_FF_BOOST_LEFT = 0.055
RAV4_PRIME_TURN_IN_FF_BOOST_RIGHT = 0.040
@@ -1155,6 +1165,18 @@ def get_prius_center_taper_scale(desired_lateral_accel: float, v_ego: float) ->
return 1.0 - reduction
def get_camry_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0,
desired_lateral_jerk: float = 0.0) -> float:
del desired_lateral_jerk
speed_weight = _sigmoid((v_ego - CAMRY_CENTER_FRICTION_THRESHOLD_SPEED) /
CAMRY_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH)
center_weight = _sigmoid((CAMRY_CENTER_FRICTION_THRESHOLD_LAT - abs(desired_lateral_accel)) /
CAMRY_CENTER_FRICTION_THRESHOLD_LAT_WIDTH)
gain = _flm_vehicle_knob("toyota_camry.center_friction_threshold_gain",
CAMRY_CENTER_FRICTION_THRESHOLD_GAIN)
return get_standard_friction_threshold(v_ego) * (1.0 + gain * speed_weight * center_weight)
def _rav4_prime_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
return left_value if desired_lateral_accel >= 0.0 else right_value
@@ -3179,6 +3201,7 @@ FLM_RICH_PROFILE_CARS = {
"hyundai_ioniq_6": set(IONIQ_6_CARS),
"hyundai_kia_ev6": set(KIA_EV6_CARS),
"toyota_prius": set(PRIUS_CARS),
"toyota_camry": set(CAMRY_CARS),
}
FLM_RICH_PROFILE_LABELS = {
@@ -3186,6 +3209,7 @@ FLM_RICH_PROFILE_LABELS = {
"hyundai_ioniq_6": "Ioniq 6",
"hyundai_kia_ev6": "EV6",
"toyota_prius": "Prius",
"toyota_camry": "Camry",
FLM_UNIVERSAL_PROFILE_KEY: "Torque Controller",
}
@@ -3251,6 +3275,7 @@ FLM_SUPPORTED_VEHICLE_KNOBS = {
"toyota_prius.unwind_threshold_increase_left": {"profile": "toyota_prius", "min": 0.0, "max": 0.90, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_THRESHOLD_INCREASE_LEFT},
"toyota_prius.unwind_threshold_increase_right": {"profile": "toyota_prius", "min": 0.0, "max": 0.90, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_UNWIND_THRESHOLD_INCREASE_RIGHT},
"toyota_prius.center_friction_threshold_gain": {"profile": "toyota_prius", "min": 0.0, "max": 0.20, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": PRIUS_CENTER_FRICTION_THRESHOLD_GAIN},
"toyota_camry.center_friction_threshold_gain": {"profile": "toyota_camry", "min": 0.0, "max": 0.15, "precision": 0.001, "deltaType": "absolute", "safeLiveTrial": True, "defaultValue": CAMRY_CENTER_FRICTION_THRESHOLD_GAIN},
}
@@ -3275,7 +3300,7 @@ def _add_flm_full_surface_profile_knobs(profile_key: str, defaults: dict[str, fl
}
for _flm_profile_key in ("gm_bolt_2022_2023", "hyundai_ioniq_6", "hyundai_kia_ev6", "toyota_prius", FLM_UNIVERSAL_PROFILE_KEY):
for _flm_profile_key in ("gm_bolt_2022_2023", "hyundai_ioniq_6", "hyundai_kia_ev6", "toyota_prius", "toyota_camry", FLM_UNIVERSAL_PROFILE_KEY):
_add_flm_full_surface_profile_knobs(_flm_profile_key)
@@ -3309,7 +3334,7 @@ def get_flm_capabilities(car_fingerprint, brand: str = "", hyundai_canfd: bool =
dedicated_friction = car_fingerprint in (
set(BOLT_2022_2023_CARS) | set(BOLT_2018_2021_CARS) | set(VOLT_STANDARD_CARS) | set(PALISADE_CARS) |
set(PRIUS_CARS) | set(RAV4_PRIME_CARS) | set(SIENNA_4TH_GEN_CARS) | set(IONIQ_5_CARS) | set(IONIQ_6_CARS) | set(KIA_EV6_CARS) | set(KIA_FORTE_CARS) |
set(KIA_NIRO_PHEV_2022_CARS) | set(KIA_CARNIVAL_CARS) | set(GENESIS_G90_CARS)
set(KIA_NIRO_PHEV_2022_CARS) | set(KIA_CARNIVAL_CARS) | set(GENESIS_G90_CARS) | set(CAMRY_CARS)
)
dedicated_center_taper = car_fingerprint in (
set(PRIUS_CARS) | set(SIENNA_4TH_GEN_CARS) | set(BOLT_CARS) | set(VOLT_STANDARD_CARS) | set(IONIQ_5_CARS) |
selfdrive/controls/tests/test_latcontrol.py
+10
View File
@@ -68,6 +68,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_prius_ff_scale,
get_prius_friction_scale,
get_prius_friction_threshold,
get_camry_friction_threshold,
get_rav4_prime_ff_scale,
get_rav4_prime_friction_scale,
get_rav4_prime_friction_threshold,
@@ -658,6 +659,15 @@ class TestLatControl:
assert right_turn_in_scale == left_turn_in_scale > base_scale
assert base_scale > left_unwind_scale == right_unwind_scale
def test_camry_friction_threshold_only_fades_in_for_calm_high_speed(self):
low_speed_center = get_camry_friction_threshold(10.0, 0.0)
high_speed_center = get_camry_friction_threshold(32.0, 0.0)
high_speed_curve = get_camry_friction_threshold(32.0, 0.8)
assert low_speed_center == pytest.approx(get_standard_friction_threshold(10.0), rel=0.01)
assert high_speed_center > get_standard_friction_threshold(32.0)
assert high_speed_curve < high_speed_center
def test_generic_friction_threshold_floor(self):
assert get_standard_friction_threshold(0.0) == 0.30
assert get_standard_friction_threshold(6.0) == 0.30
selfdrive/ui/layouts/settings/starpilot/appearance.py
+3 -9
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@@ -334,11 +334,6 @@ class StarPilotAppearanceLayout(_SettingsPage):
subtitle="",
get_state=lambda: self._params.get_bool("HideMaxSpeed"),
set_state=lambda s: self._params.put_bool("HideMaxSpeed", s)),
SettingRow("HideSpeedLimit", "toggle", tr_noop("Hide Speed Limit"),
subtitle="",
get_state=lambda: self._params.get_bool("HideSpeedLimit"),
set_state=lambda s: self._params.put_bool("HideSpeedLimit", s),
visible=lambda: ol() and self._params.get_bool("SpeedLimitController")),
SettingRow("HideAlerts", "toggle", tr_noop("Hide Alerts"),
subtitle="",
get_state=lambda: self._params.get_bool("HideAlerts"),
@@ -384,16 +379,15 @@ class StarPilotAppearanceLayout(_SettingsPage):
subtitle="",
get_state=lambda: self._params.get_bool("RoadNameUI"),
set_state=lambda s: self._params.put_bool("RoadNameUI", s)),
SettingRow("ShowSpeedLimits", "toggle", tr_noop("Speed Limits"),
SettingRow("ShowSpeedLimits", "toggle", tr_noop("Show Speed Limits"),
subtitle="",
get_state=lambda: self._params.get_bool("ShowSpeedLimits"),
set_state=lambda s: self._params.put_bool("ShowSpeedLimits", s),
visible=lambda: not (self._params.get_bool("SpeedLimitController") and ol())),
set_state=lambda s: self._params.put_bool("ShowSpeedLimits", s)),
SettingRow("UseVienna", "toggle", tr_noop("Vienna Signs"),
subtitle="",
get_state=lambda: self._params.get_bool("UseVienna"),
set_state=lambda s: self._params.put_bool("UseVienna", s),
visible=lambda: self._params.get_bool("ShowSpeedLimits") or self._params.get_bool("SpeedLimitController")),
visible=lambda: self._params.get_bool("ShowSpeedLimits")),
SettingRow("QOLVisuals", "toggle", tr_noop("Quality of Life"),
subtitle=tr_noop("Convenience features for everyday driving."),
get_state=lambda: self._params.get_bool("QOLVisuals"),
selfdrive/ui/mici/layouts/settings/visuals.py
+1 -1
View File
@@ -63,7 +63,7 @@ class VisualsLayoutMici(NavScroller):
self._torque_bar_btn = BigParamControl("torque bar", "EnableTorqueBarWidget")
self._rainbow_path_btn = BigParamControl("rainbow road", "RainbowPath")
self._lead_indicator_btn = LeadIndicatorBigButton()
self._speed_limit_signs_btn = BigParamControl("speed limit signs", "ShowSpeedLimits")
self._speed_limit_signs_btn = BigParamControl("show speed limits", "ShowSpeedLimits")
self._slc_confirmation_btn = BigParamControl("confirm new speed limits", "SLCConfirmation")
self._slc_confirmation_lower_btn = BigParamControl("confirm lower limits", "SLCConfirmationLower")
self._slc_confirmation_higher_btn = BigParamControl("confirm higher limits", "SLCConfirmationHigher")
selfdrive/ui/mici/onroad/hud_renderer.py
+1 -1
View File
@@ -202,7 +202,7 @@ class HudRenderer(Widget):
if sm.recv_frame["starpilotPlan"] >= ui_state.started_frame:
starpilot_plan = sm["starpilotPlan"]
self._show_speed_limit = ui_state.params.get_bool("ShowSpeedLimits") or ui_state.params.get_bool("SpeedLimitController")
self._show_speed_limit = ui_state.params.get_bool("ShowSpeedLimits")
if self._show_speed_limit:
dashboard_speed_limit = sm["starpilotCarState"].dashboardSpeedLimit if sm.valid.get("starpilotCarState", False) else 0.0
vision_speed_limit = ui_state.params_memory.get_float("VisionSpeedLimit") if ui_state.params.get_bool("VisionSpeedLimitDetection") else 0.0
selfdrive/ui/onroad/starpilot/slc_speed_limit.py
+2 -9
View File
@@ -124,13 +124,10 @@ def _get_slc_state():
speed_limit_changed = plan.speedLimitChanged
params = ui_state.ui_params
show_slc = params.get_bool("ShowSpeedLimits") or params.get_bool("SpeedLimitController")
hide_sl = params.get_bool("HideSpeedLimit")
show_slc = params.get_bool("ShowSpeedLimits")
unconfirmed_valid = plan.unconfirmedSlcSpeedLimit > 1
# A pending (unconfirmed) limit overrides HideSpeedLimit so the prompt always shows.
hide = not (speed_limit_changed and unconfirmed_valid) and hide_sl
if not show_slc and not speed_limit_changed:
if not show_slc:
_reset_pulse()
return None
@@ -170,7 +167,6 @@ def _get_slc_state():
'unconfirmed_speed_limit': max(0.0, plan.unconfirmedSlcSpeedLimit * speed_conversion),
'unconfirmed_valid': unconfirmed_valid,
'speed_limit_changed': speed_limit_changed,
'hide': hide,
'show_offset': show_offset,
'use_vienna': params.get_bool("UseVienna"),
'offset_str': offset_str,
@@ -479,9 +475,6 @@ def render_speed_limit_at(state: dict, rect: rl.Rectangle, expanded: bool = Fals
_draw_sign(state, rect, pending=True)
return None
if state['hide']:
return None
_draw_sign(state, rect, pending=False)
use_vienna = state['use_vienna']
selfdrive/ui/onroad/starpilot/widgets/speed_limit.py
+1 -2
View File
@@ -22,8 +22,7 @@ class SpeedLimitWidget(LayoutWidget):
if self._slc_state is None:
self._pill_rect = None
return False
flashing_pending = self._slc_state['speed_limit_changed'] and self._slc_state['unconfirmed_valid']
return flashing_pending or not self._slc_state['hide']
return True
def get_size(self) -> tuple[float, float]:
if self._slc_state is None:
selfdrive/ui/tests/test_fingerprint_catalog.py
+2 -2
View File
@@ -5,7 +5,7 @@ def test_tesla_hardware_specific_docs_are_available_for_manual_fingerprinting():
tesla_models = _extract_fingerprint_models_for_make("tesla")
assert ("TESLA_MODEL_3", "Tesla Model 3 (with HW3) 2019-23", "Tesla") in tesla_models
assert ("TESLA_MODEL_3", "Tesla Model 3 (with HW4) 2024-25", "Tesla") in tesla_models
assert ("TESLA_MODEL_3", "Tesla Model 3 (with HW4) 2024-26", "Tesla") in tesla_models
assert ("TESLA_MODEL_Y", "Tesla Model Y (with HW3) 2020-23", "Tesla") in tesla_models
assert ("TESLA_MODEL_X", "Tesla Model X (with HW4) 2024", "Tesla") in tesla_models
@@ -16,5 +16,5 @@ def test_tesla_model_3_hardware_variants_remain_distinct_menu_options():
assert [option.label for option in model_3_options] == [
"Tesla Model 3 (with HW3) 2019-23",
"Tesla Model 3 (with HW4) 2024-25",
"Tesla Model 3 (with HW4) 2024-26",
]