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Subaru: replace stock LKAS alerts with openpilot's (#21993)

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* Add stock LKAS alert filters and openpilot LKAS state indicator

* Update ES_LKAS_State signals

* bump opendbc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d32b1f703ce9606c46177ba70e4de5082d588d06
This commit is contained in:
martinl
2021-09-04 02:53:49 +03:00
committed by GitHub
parent 23fd959269
commit bd7c90f233
4 changed files with 24 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc
+1 -1
Submodule opendbc updated: 78c639f813...68bab3746f
selfdrive/car/subaru/carcontroller.py
+1 -1
View File
@@ -69,7 +69,7 @@ class CarController():
self.es_distance_cnt = CS.es_distance_msg["Counter"]
if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
return can_sends
selfdrive/car/subaru/carstate.py
+4 -6
View File
@@ -211,20 +211,18 @@ class CarState(CarStateBase):
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("LKAS_Alert_Msg", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("LKAS_Dash_State", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Left_Line_Green", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Green", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
]
selfdrive/car/subaru/subarucan.py
+18 -3
View File
@@ -27,20 +27,35 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
return packer.make_can_msg("ES_Distance", 0, values)
def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
values = copy.copy(es_lkas_msg)
# Filter the stock LKAS "Keep hands on wheel" alert
if values["LKAS_Alert_Msg"] == 1:
values["LKAS_Alert_Msg"] = 0
# Filter the stock LKAS sending an audible alert when it turns off LKAS
if values["LKAS_Alert"] == 27:
values["LKAS_Alert"] = 0
# Show Keep hands on wheel alert for openpilot steerRequired alert
if visual_alert == VisualAlert.steerRequired:
values["Keep_Hands_On_Wheel"] = 1
values["LKAS_Alert_Msg"] = 1
# Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
if left_lane_depart:
values["LKAS_Alert"] = 12 # Left lane departure dash alert
elif right_lane_depart:
values["LKAS_Alert"] = 11 # Right lane departure dash alert
if enabled:
values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
values["LKAS_Dash_State"] = 2 # Green enabled indicator
else:
values["LKAS_Dash_State"] = 0 # LKAS Not enabled
values["LKAS_Left_Line_Visible"] = int(left_line)
values["LKAS_Right_Line_Visible"] = int(right_line)