volt opd adjust

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -59,6 +59,9 @@ VOLT_ONE_PEDAL_DECEL_RATE_LIMIT_DOWN = 0.8 * DT_CTRL * 4
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_BP = [4.0, 8.0]
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_V = [0.4, 1.0]
 VOLT_ONE_PEDAL_ACCEL_PITCH_FACTOR_INCLINE_V = [0.2, 1.0]
+VOLT_ONE_PEDAL_LIFT_BRAKE_BP = [0.0, CarControllerParams.NEAR_STOP_BRAKE_PHASE, 2.0 * CV.MPH_TO_MS]
+VOLT_ONE_PEDAL_LIFT_BRAKE_V = [AUTO_HOLD_MIN_BRAKE, AUTO_HOLD_MIN_BRAKE, 20.0]
+VOLT_ONE_PEDAL_LIFT_BRAKE_FRAMES = 8
 TRUCK_LONG_SMOOTH_CARS = {
   CAR.CHEVROLET_SILVERADO,
   CAR.CHEVROLET_SILVERADO_CC,
@@ -253,6 +256,13 @@ def get_volt_one_pedal_target_decel(v_ego: float) -> float:
   return float(np.interp(v_ego, VOLT_ONE_PEDAL_DECEL_BP, VOLT_ONE_PEDAL_DECEL_V))
 
 
+def get_volt_one_pedal_lift_brake(v_ego: float) -> int:
+  if v_ego > VOLT_ONE_PEDAL_LIFT_BRAKE_BP[-1]:
+    return 0
+
+  return int(round(np.interp(v_ego, VOLT_ONE_PEDAL_LIFT_BRAKE_BP, VOLT_ONE_PEDAL_LIFT_BRAKE_V)))
+
+
 def should_activate_volt_one_pedal(one_pedal_ready: bool, cruise_main: bool, long_active: bool,
                                    gas_pressed: bool, brake_pressed: bool, regen_braking: bool,
                                    single_pedal_mode: bool, gear_shifter, drive_time_s: float) -> bool:
@@ -419,6 +429,8 @@ class CarController(CarControllerBase):
     )
     self.volt_one_pedal_decel = 0.0
     self.volt_one_pedal_brake = 0
+    self.volt_one_pedal_lift_frames = 0
+    self.volt_one_pedal_gas_pressed_last = False
     try:
       self.gm_auto_hold_enabled = self.params_.get_bool("GMAutoHold")
     except UnknownKeyName:
@@ -429,6 +441,7 @@ class CarController(CarControllerBase):
     self.volt_one_pedal_pid.reset()
     self.volt_one_pedal_decel = min(0.0, float(self.aego))
     self.volt_one_pedal_brake = 0
+    self.volt_one_pedal_lift_frames = 0
 
   def _update_volt_one_pedal_brake(self, CC, CS):
     pitch_accel = 0.0
@@ -456,6 +469,9 @@ class CarController(CarControllerBase):
       0,
       self.params.MAX_BRAKE,
     )))
+    if self.volt_one_pedal_lift_frames > 0:
+      self.volt_one_pedal_brake = max(self.volt_one_pedal_brake, get_volt_one_pedal_lift_brake(CS.out.vEgo))
+      self.volt_one_pedal_lift_frames -= 1
 
   def calc_pedal_command(self, accel: float, long_active: bool, v_ego: float):
     if not long_active:
@@ -623,6 +639,11 @@ class CarController(CarControllerBase):
       CS.out.gearShifter,
       float(getattr(CS, "one_pedal_drive_time", 0.0)),
     )
+    if volt_one_pedal_active and self.volt_one_pedal_gas_pressed_last and not CS.out.gasPressed:
+      if CS.out.vEgo < VOLT_ONE_PEDAL_LIFT_BRAKE_BP[-1]:
+        self.volt_one_pedal_lift_frames = VOLT_ONE_PEDAL_LIFT_BRAKE_FRAMES
+    elif CS.out.gasPressed or not volt_one_pedal_active:
+      self.volt_one_pedal_lift_frames = 0
 
     if self.frame % 4 == 0:
       if volt_one_pedal_active:
@@ -632,6 +653,7 @@ class CarController(CarControllerBase):
       if not self.CP.openpilotLongitudinalControl:
         self.apply_gas = 0
         self.apply_brake = self.volt_one_pedal_brake if volt_one_pedal_active else 0
+    self.volt_one_pedal_gas_pressed_last = CS.out.gasPressed
 
     stock_hold_apply_brake = max(self.apply_brake if self.CP.openpilotLongitudinalControl else 0, self.volt_one_pedal_brake)
 

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -12,6 +12,7 @@ from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_butt
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
   get_acc_dashboard_fcw_alert,
+  get_volt_one_pedal_lift_brake,
   should_send_acc_dashboard_status,
   should_send_cc_button_spam,
   should_spoof_dash_speed,
@@ -350,6 +351,11 @@ class TestGMCarController:
 
     assert should_spoof_dash_speed(cp, SimpleNamespace(disable_openpilot_long=False))
 
+  def test_volt_one_pedal_lift_brake_seeds_low_speed_braking(self):
+    assert get_volt_one_pedal_lift_brake(2.1 * CV.MPH_TO_MS) == 0
+    assert get_volt_one_pedal_lift_brake(2.0 * CV.MPH_TO_MS) == 20
+    assert get_volt_one_pedal_lift_brake(0.10) == 80
+
   def test_volt_camera_no_camera_sends_acc_dashboard_without_dash_spoof(self):
     cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_CAMERA, flags=GMFlags.NO_CAMERA.value)