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firestar5683
2026-05-11 22:51:16 -05:00
parent c650edd193
commit c2bb8f9c56
4 changed files with 82 additions and 24 deletions
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opendbc_repo/opendbc/car/hyundai/interface.py
+5 -5
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@@ -201,11 +201,11 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStopping = 0.8
if candidate == CAR.HYUNDAI_PALISADE_2023:
ret.startAccel = 1.25
ret.stopAccel = -1.1
ret.stoppingDecelRate = 0.4
ret.vEgoStarting = 0.45
ret.vEgoStopping = 0.5
ret.startAccel = 1.3
ret.stopAccel = -0.85
ret.stoppingDecelRate = 0.35
ret.vEgoStarting = 0.5
ret.vEgoStopping = 0.35
if candidate == CAR.KIA_NIRO_PHEV_2022:
ret.stopAccel = -1.5
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+5 -5
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@@ -173,11 +173,11 @@ class TestHyundaiFingerprint:
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, toggles)
assert CP.startAccel == pytest.approx(1.25)
assert CP.stopAccel == pytest.approx(-1.1)
assert CP.vEgoStarting == pytest.approx(0.45)
assert CP.vEgoStopping == pytest.approx(0.5)
assert CP.stoppingDecelRate == pytest.approx(0.4)
assert CP.startAccel == pytest.approx(1.3)
assert CP.stopAccel == pytest.approx(-0.85)
assert CP.vEgoStarting == pytest.approx(0.5)
assert CP.vEgoStopping == pytest.approx(0.35)
assert CP.stoppingDecelRate == pytest.approx(0.35)
def test_kia_niro_phev_2022_longitudinal_params_soften_final_stop_hold(self):
toggles = get_test_toggles()
selfdrive/controls/lib/latcontrol_torque.py
+60 -14
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@@ -114,6 +114,9 @@ IONIQ_5_CARS = (
IONIQ_6_CARS = (
HYUNDAI_CAR.HYUNDAI_IONIQ_6,
)
SONATA_HYBRID_CARS = (
HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID,
)
KIA_EV6_CARS = (
HYUNDAI_CAR.KIA_EV6,
)
@@ -196,35 +199,47 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.27
BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
VOLT_STANDARD_FF_GAIN_LEFT = 0.11
VOLT_STANDARD_FF_GAIN_RIGHT = 0.08
VOLT_STANDARD_FF_GAIN_LEFT = 0.13
VOLT_STANDARD_FF_GAIN_RIGHT = 0.06
VOLT_STANDARD_FF_ONSET = 0.10
VOLT_STANDARD_FF_ONSET_WIDTH = 0.05
VOLT_STANDARD_FF_CUTOFF = 1.38
VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.28
VOLT_STANDARD_TRANSITION_SPEED = 10.0
VOLT_STANDARD_PHASE_SCALE = 0.10
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.26
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.44
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.34
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.72
VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.32
VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.34
VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.28
VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.82
VOLT_STANDARD_FRICTION_MULT = 1.04
VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.24
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.56
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.07
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.13
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.20
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.50
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.16
VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.68
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.09
VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.18
VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.62
VOLT_STANDARD_CENTER_TAPER_MAX = 0.12
VOLT_STANDARD_CENTER_TAPER_LAT = 0.10
VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.04
SONATA_HYBRID_FF_REDUCTION = 0.08
SONATA_HYBRID_FF_ONSET = 0.22
SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
SONATA_HYBRID_FF_CUTOFF = 1.15
SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.35
SONATA_HYBRID_CENTER_TAPER_MAX = 0.05
SONATA_HYBRID_CENTER_TAPER_LAT = 0.14
SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025
SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0
SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5
GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
GENESIS_G90_FF_GAIN_LEFT = 0.20
GENESIS_G90_FF_GAIN_RIGHT = 0.10
@@ -817,6 +832,28 @@ def get_volt_standard_center_taper_scale(desired_lateral_accel: float, v_ego: fl
return 1.0 - reduction
def _sonata_hybrid_sigmoid(x: float) -> float:
return _sigmoid(x)
def get_sonata_hybrid_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
del desired_lateral_jerk, v_ego
if desired_lateral_accel == 0.0:
return 1.0
abs_lateral_accel = abs(desired_lateral_accel)
onset = _sonata_hybrid_sigmoid((abs_lateral_accel - SONATA_HYBRID_FF_ONSET) / SONATA_HYBRID_FF_ONSET_WIDTH)
cutoff = _sonata_hybrid_sigmoid((SONATA_HYBRID_FF_CUTOFF - abs_lateral_accel) / SONATA_HYBRID_FF_CUTOFF_WIDTH)
return 1.0 - (SONATA_HYBRID_FF_REDUCTION * onset * cutoff)
def get_sonata_hybrid_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _sonata_hybrid_sigmoid((v_ego - SONATA_HYBRID_CENTER_TAPER_SPEED) / SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH)
center_weight = _sonata_hybrid_sigmoid((SONATA_HYBRID_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH)
reduction = SONATA_HYBRID_CENTER_TAPER_MAX * speed_weight * center_weight
return 1.0 - reduction
def genesis_g90_lateral_testing_ground_active() -> bool:
return testing_ground.use(GENESIS_G90_LATERAL_TESTING_GROUND_ID)
@@ -1249,6 +1286,7 @@ class LatControlTorque(LatControl):
self.is_genesis_g90 = CP.carFingerprint in GENESIS_G90_CARS
self.is_ioniq_5 = CP.carFingerprint in IONIQ_5_CARS
self.is_ioniq_6 = CP.carFingerprint in IONIQ_6_CARS
self.is_sonata_hybrid = CP.carFingerprint in SONATA_HYBRID_CARS
self.is_kia_ev6 = CP.carFingerprint in KIA_EV6_CARS
self.is_civic_bosch_modified = CP.carFingerprint == HONDA_CAR.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
self.is_volt_cc = CP.carFingerprint == GM_CAR.CHEVROLET_VOLT_CC
@@ -1263,6 +1301,8 @@ class LatControlTorque(LatControl):
self.torque_params.latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_6:
self.torque_params.latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_sonata_hybrid:
self.torque_params.latAccelFactor *= SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified:
self.torque_params.latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_a_lateral_testing_ground_active():
@@ -1284,6 +1324,8 @@ class LatControlTorque(LatControl):
latAccelFactor *= IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_ioniq_6:
latAccelFactor *= IONIQ_6_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_sonata_hybrid:
latAccelFactor *= SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT
if self.is_civic_bosch_modified:
latAccelFactor *= CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT
if civic_bosch_modified_a_lateral_testing_ground_active():
@@ -1359,10 +1401,12 @@ class LatControlTorque(LatControl):
genesis_g90_test_active = self.is_genesis_g90 and genesis_g90_lateral_testing_ground_active()
ioniq_5_active = self.is_ioniq_5
ioniq_6_active = self.is_ioniq_6
sonata_hybrid_active = self.is_sonata_hybrid
kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
friction_threshold = get_friction_threshold(CS.vEgo)
friction_scale = 1.0
if bolt_2022_2023_tuned_path_active:
@@ -1390,6 +1434,8 @@ class LatControlTorque(LatControl):
friction_threshold = get_ioniq_6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk) / max(ioniq_6_center_taper, 1e-3)
friction_scale = get_ioniq_6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_6_center_taper)
elif sonata_hybrid_active:
ff *= get_sonata_hybrid_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * sonata_hybrid_center_taper
elif kia_ev6_test_active:
ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
selfdrive/controls/tests/test_latcontrol.py
+12
View File
@@ -50,6 +50,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
get_kia_ev6_ff_scale,
get_kia_ev6_friction_scale,
get_kia_ev6_friction_threshold,
get_sonata_hybrid_center_taper_scale,
get_sonata_hybrid_ff_scale,
get_volt_standard_center_taper_scale,
get_volt_standard_ff_scale,
get_volt_standard_friction_scale,
@@ -217,6 +219,16 @@ class TestLatControl:
assert get_volt_standard_center_taper_scale(0.0, 25.0) < get_volt_standard_center_taper_scale(0.10, 25.0) < get_volt_standard_center_taper_scale(0.20, 25.0) <= 1.0
assert get_volt_standard_center_taper_scale(0.0, 25.0) > 0.85
def test_sonata_hybrid_ff_scale_curve(self):
assert get_sonata_hybrid_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_sonata_hybrid_ff_scale(0.6, 0.0, 20.0) == get_sonata_hybrid_ff_scale(-0.6, 0.0, 20.0)
assert get_sonata_hybrid_ff_scale(0.30, 0.0, 20.0) < 1.0
assert get_sonata_hybrid_ff_scale(0.30, 0.0, 20.0) < get_sonata_hybrid_ff_scale(0.10, 0.0, 20.0)
def test_sonata_hybrid_center_taper_curve(self):
assert get_sonata_hybrid_center_taper_scale(0.0, 30.0) < get_sonata_hybrid_center_taper_scale(0.0, 15.0)
assert get_sonata_hybrid_center_taper_scale(0.0, 30.0) < get_sonata_hybrid_center_taper_scale(0.20, 30.0) <= 1.0
def test_genesis_g90_ff_scale_curve(self):
assert get_genesis_g90_ff_scale(0.0, 0.0, 20.0) == 1.0
assert get_genesis_g90_ff_scale(0.5, 0.0, 20.0) > get_genesis_g90_ff_scale(-0.5, 0.0, 20.0)