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Honda: cleanup minEnableSpeed (#25447)

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* Honda interface.py: cleanup `stop_and_go` variable

* Update selfdrive/car/honda/interface.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 3fc001c945bb5e9092050bac1e55267dab63b9eb
This commit is contained in:
Chris Souers
2022-08-16 03:40:47 -04:00
committed by GitHub
parent fc494c2a2d
commit bcbca2afc9
1 changed files with 2 additions and 19 deletions
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selfdrive/car/honda/interface.py
+2 -19
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@@ -86,7 +86,6 @@ class CarInterface(CarInterfaceBase):
eps_modified = True
if candidate == CAR.CIVIC:
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -106,7 +105,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1.
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
stop_and_go = True
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
@@ -116,7 +114,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
stop_and_go = True
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
@@ -130,7 +127,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
stop_and_go = False
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
@@ -140,7 +136,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
stop_and_go = False
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
@@ -151,7 +146,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@@ -169,7 +163,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
stop_and_go = True
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@@ -180,7 +173,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
stop_and_go = False
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
@@ -190,7 +182,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
stop_and_go = False
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
@@ -201,7 +192,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HRV:
stop_and_go = False
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
@@ -212,7 +202,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.ACURA_RDX:
stop_and_go = False
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
@@ -222,7 +211,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
@@ -232,7 +220,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.677
elif candidate == CAR.ODYSSEY:
stop_and_go = False
ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
@@ -242,7 +229,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate == CAR.ODYSSEY_CHN:
stop_and_go = False
ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
ret.wheelbase = 2.90
ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
@@ -252,7 +238,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
elif candidate in (CAR.PILOT, CAR.PASSPORT):
stop_and_go = False
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.wheelbase = 2.82
ret.centerToFront = ret.wheelbase * 0.428
@@ -262,7 +247,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
stop_and_go = False
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
@@ -272,7 +256,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
stop_and_go = True
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
@@ -282,7 +265,6 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
stop_and_go = True
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
@@ -311,7 +293,8 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase