mirror of
https://github.com/firestar5683/StarPilot.git
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GreatMergeTorqueTune
This commit is contained in:
firestar5683
@@ -1,5 +1,7 @@
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from typing import Tuple
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import time
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import math
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from openpilot.common.swaglog import cloudlog
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.filter_simple import FirstOrderFilter
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@@ -9,7 +11,7 @@ from openpilot.common.params_pyx import Params
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
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from openpilot.selfdrive.car.gm import gmcan
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
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from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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@@ -64,13 +66,20 @@ class CarController(CarControllerBase):
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self.params = CarControllerParams(self.CP)
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self.params_ = Params()
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self.mass = CP.mass
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self.tireRadius = 0.075 * CP.wheelbase + 0.1453
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self.frontalArea = 1.05 * CP.wheelbase + 0.0679
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self.coeffDrag = 0.30
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self.airDensity = 1.225
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self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
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self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
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self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
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# FrogPilot variables
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self.accel_g = 0.0
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self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
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self.accel_g = 0.0
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self.regen_paddle_pressed = False
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@@ -334,14 +343,6 @@ class CarController(CarControllerBase):
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if self.frame % 4 == 0:
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stopping = actuators.longControlState == LongCtrlState.stopping
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# Pitch compensated acceleration;
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# TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
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if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
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self.pitch.update(CC.orientationNED[1])
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self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
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accel += self.accel_g
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brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
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at_full_stop = CC.longActive and CS.out.standstill
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near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
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interceptor_gas_cmd = 0
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@@ -353,9 +354,26 @@ class CarController(CarControllerBase):
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self.apply_gas = self.params.INACTIVE_REGEN
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self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
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else:
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# Normal operation
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self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
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accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
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else:
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accel_due_to_pitch = 0.0
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gas_max = self.params.MAX_GAS
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accel_max = self.params.ACCEL_MAX
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accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
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torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
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scaled_torque = torque + self.params.ZERO_GAS
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apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
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BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
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brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
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self.apply_gas = int(round(apply_gas_torque))
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self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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if self.apply_brake > 0:
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self.apply_gas = self.params.INACTIVE_REGEN
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# Don't allow any gas above inactive regen while stopping
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# FIXME: brakes aren't applied immediately when enabling at a stop
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if stopping:
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@@ -452,10 +470,7 @@ class CarController(CarControllerBase):
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
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if self.frame % 20 == 0:
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pscm_status = CS.pscm_status.copy()
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if pscm_status["LKATorqueDeliveredStatus"] == 3:
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pscm_status["LKATorqueDeliveredStatus"] = 1
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can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, pscm_status))
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can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
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new_actuators = actuators.as_builder()
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new_actuators.accel = accel
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@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from openpilot.selfdrive.car.interfaces import CarStateBase
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, CAR
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TransmissionType = car.CarParams.TransmissionType
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NetworkLocation = car.CarParams.NetworkLocation
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@@ -96,7 +96,10 @@ class CarState(CarStateBase):
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# Regen braking is braking
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if self.CP.transmissionType == TransmissionType.direct:
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ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
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self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
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self.single_pedal_mode = (ret.gearShifter == GearShifter.low or
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pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or
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(ret.regenBraking and GearShifter.manumatic) or
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(self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023) and self.CP.enableGasInterceptor))
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if self.CP.enableGasInterceptor:
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ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
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@@ -115,7 +118,7 @@ class CarState(CarStateBase):
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# 0 inactive, 1 active, 2 temporarily limited, 3 failed
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self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
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ret.steerFaultTemporary = self.lkas_status == 2
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ret.steerFaultPermanent = False # self.lkas_status == 3
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ret.steerFaultPermanent = self.lkas_status == 3
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if self.CP.carFingerprint not in SDGM_CAR:
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# 1 - open, 0 - closed
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@@ -163,7 +166,11 @@ class CarState(CarStateBase):
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if self.CP.carFingerprint in CC_ONLY_CAR:
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ret.accFaulted = False
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ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
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ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
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# Try ECM first for cars that might have it (like most GMs), fall back to ASCM
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try:
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ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
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except:
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ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
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if self.CP.enableBsm:
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if self.CP.carFingerprint not in SDGM_CAR:
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@@ -173,7 +180,7 @@ class CarState(CarStateBase):
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ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
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ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
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# FrogPilot CarState functions
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self.lkas_previously_enabled = self.lkas_enabled
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if self.CP.carFingerprint in SDGM_CAR:
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self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
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@@ -66,7 +66,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
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"GasRegenFullStopActive": at_full_stop,
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"GasRegenAlwaysOne": 1,
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"GasRegenAlwaysOne2": 1,
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"GasRegenAlwaysOne3": 1,
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}
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dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
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@@ -48,8 +48,8 @@ NON_LINEAR_TORQUE_PARAMS = {
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"right": [4.78003305, 1.0, 0.3122, 0.05591772],
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},
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CAR.CHEVROLET_SILVERADO: {
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"left": [3.8, 0.81, 0.21, 0.0465122],
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"right": [3.8, 0.81, 0.21, 0.0465122],
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"left": [3.8, 0.81, 0.24, 0.0465122],
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"right": [3.8, 0.81, 0.24, 0.0465122],
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},
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}
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@@ -150,11 +150,14 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalTuning.kiBP = [5., 35., 60.]
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if candidate in CAMERA_ACC_CAR:
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ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
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# For ACC models with pedal interceptor, behave like CC_ONLY_CAR
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ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
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ret.networkLocation = NetworkLocation.fwdCamera
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ret.radarUnavailable = True # no radar
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ret.pcmCruise = True
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# Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
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ret.pcmCruise = not ret.enableGasInterceptor
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
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# Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
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ret.minEnableSpeed = 5 * CV.KPH_TO_MS
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ret.minSteerSpeed = 10 * CV.KPH_TO_MS
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@@ -260,7 +263,13 @@ class CarInterface(CarInterfaceBase):
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# ACC Bolts use pedal for full longitudinal control, not just sng
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ret.flags |= GMFlags.PEDAL_LONG.value
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elif candidate == CAR.CHEVROLET_SILVERADO:
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# Enable pedal interceptor for ACC models when detected
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if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
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# ACC models with pedal interceptor get full pedal longitudinal control
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ret.flags |= GMFlags.PEDAL_LONG.value
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
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if candidate == CAR.CHEVROLET_SILVERADO:
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# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
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# with foot on brake to allow engagement, but this platform only has that check in the camera.
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# TODO: check if this is split by EV/ICE with more platforms in the future
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@@ -320,7 +329,7 @@ class CarInterface(CarInterfaceBase):
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ret.stoppingControl = True
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ret.autoResumeSng = True
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if candidate in CC_ONLY_CAR: #pedal interceptor tuning
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if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
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ret.flags |= GMFlags.PEDAL_LONG.value
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
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# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
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@@ -346,8 +355,8 @@ class CarInterface(CarInterfaceBase):
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if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
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ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
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ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.9] # == 2 km/h/s, 1.25 mph/s
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ret.longitudinalTuning.deadzoneBP = [0., 1.]
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ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
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ret.longitudinalActuatorDelay = 1. # TODO: measure this
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.1]
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+29
-13
@@ -64,14 +64,16 @@ class CarControllerParams:
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self.INACTIVE_REGEN = 5650
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# Camera ACC vehicles have no regen while enabled.
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# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
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self.max_regen_acceleration = 0.
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max_regen_acceleration = 0.
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self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
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elif CP.carFingerprint in SDGM_CAR:
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self.MAX_GAS = 8191
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self.MAX_GAS_PLUS = 8191
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self.MAX_ACC_REGEN = 5500
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self.INACTIVE_REGEN = 5500
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self.max_regen_acceleration = 0.
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max_regen_acceleration = 0.
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self.BRAKE_SWITCH = self.ZERO_GAS
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else:
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self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
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@@ -80,17 +82,32 @@ class CarControllerParams:
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self.INACTIVE_REGEN = 5500
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# ICE has much less engine braking force compared to regen in EVs,
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# lower threshold removes some braking deadzone
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self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1 # More aggressive regen for EVs
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max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
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self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
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self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
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self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
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self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
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self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
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self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
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self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
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self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
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self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
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self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
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self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
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# determined by letting Volt regen to a stop in L gear from 89mph,
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# and by letting off gas and allowing car to creep, for determining
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# the positive threshold values at very low speed
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EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
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EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
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def update_ev_gas_brake_threshold(self, v_ego):
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gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
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self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
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self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
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self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
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self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
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@dataclass
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class GMCarDocs(CarDocs):
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@@ -174,7 +191,7 @@ class CAR(Platforms):
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GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
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GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
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],
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GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
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GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
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)
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CHEVROLET_EQUINOX = GMPlatformConfig(
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[GMCarDocs("Chevrolet Equinox 2019-22")],
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@@ -218,15 +235,15 @@ class CAR(Platforms):
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CHEVROLET_SUBURBAN.specs,
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)
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GMC_YUKON_CC = GMPlatformConfig(
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[GMCarDocs("GMC Yukon No ACC")],
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[GMCarDocs("GMC Yukon - No-ACC")],
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CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
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)
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CADILLAC_CT6_CC = GMPlatformConfig(
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[GMCarDocs("Cadillac CT6 No ACC")],
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[GMCarDocs("Cadillac CT6 - No-ACC")],
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CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
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)
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CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Trailblazer 2021-22")],
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[GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
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CHEVROLET_TRAILBLAZER.specs,
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)
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CADILLAC_XT4 = GMPlatformConfig(
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@@ -234,7 +251,7 @@ class CAR(Platforms):
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||||
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_XT5_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT5 No ACC")],
|
||||
[GMCarDocs("Cadillac XT5 - No-ACC")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_TRAVERSE = GMPlatformConfig(
|
||||
@@ -246,7 +263,7 @@ class CAR(Platforms):
|
||||
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_MALIBU_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu 2023 No ACC")],
|
||||
[GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAX = GMPlatformConfig(
|
||||
@@ -338,7 +355,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
|
||||
CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
|
||||
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
|
||||
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
|
||||
|
||||
Reference in New Issue
Block a user