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Add Ioniq 6 weave tune and HKG highway friction threshold test toggles

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This commit is contained in:
whoisdomi
2026-09-29 15:46:14 -05:00
parent f2da15c0fd
commit dc492787eb
7 changed files with 115 additions and 14 deletions
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common/params_keys.h
+2
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@@ -420,6 +420,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"GoatScream", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
{"GoatScreamCriticalAlerts", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
{"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
{"HKGHighwayFrictionThreshold", {PERSISTENT, BOOL, "0", "0", 3}},
{"HideAlerts", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
{"HideChangingLanesBanner", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
{"HideDistanceProfileBanner", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
@@ -448,6 +449,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
{"AggressiveCoolingEnabled", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
{"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
{"Ioniq6WeaveTune", {PERSISTENT, BOOL, "1", "1", 3}},
{"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
{"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
{"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
selfdrive/controls/lib/latcontrol_torque.py
+2
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@@ -229,6 +229,8 @@ class LatControlTorque(LatControl):
flm_profile_active = bool(getattr(starpilot_toggles, "flm_trial_applied", False) and
getattr(starpilot_toggles, "flm_active_profile_id", ""))
set_flm_runtime_overrides(getattr(starpilot_toggles, "flm_active_overrides", None) if flm_profile_active else None)
set_lateral_test_toggles(getattr(starpilot_toggles, "ioniq_6_weave_tune", True),
getattr(starpilot_toggles, "hkg_highway_friction_threshold", False))
flm_surface_active = flm_profile_active and flm_runtime_overrides_active()
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
measurement = measured_curvature * CS.vEgo ** 2
selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+37 -6
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@@ -15,6 +15,8 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
CIVIC_BOSCH_MODIFIED_B_FIXED_FRICTION_THRESHOLD = 0.30
STANDARD_FRICTION_THRESHOLD = 0.30
HKG_CANFD_BASE_FRICTION_THRESHOLD = 0.39
HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD = 0.78
HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD_BP = [15.0, 25.0] # m/s
FLM_SCHEMA_VERSION = 1
FLM_FRICTION_SPEED_KNOTS = [0.0, 5.0, 10.0, 15.0, 25.0]
CIVIC_BOSCH_MODIFIED_B_LAT_ACCEL_FACTOR_MULT = 1.20
@@ -983,6 +985,13 @@ IONIQ_6_FRICTION_CENTER_FADE_LAT = 0.15
IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.14
IONIQ_6_FRICTION_CENTER_FADE_SPEED = 18.0
IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH = 2.5
# values before the weave tune, used when the Ioniq6WeaveTune toggle is off
IONIQ_6_LEGACY_CENTER_TAPER_LAT_WIDTH = 0.025
IONIQ_6_LEGACY_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.04
IONIQ_6_LEGACY_DIRECTIONAL_TAPER_BASE_LEFT = 0.11
IONIQ_6_LEGACY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
IONIQ_6_LEGACY_FRICTION_CENTER_FADE_MAX = 0.50
IONIQ_6_LEGACY_FRICTION_CENTER_FADE_LAT_WIDTH = 0.06
# Newer Ioniq 6 highway center-chatter correction; activation is firmware-gated.
IONIQ_6_2025_FRICTION_SCALE_MULT = 0.80
IONIQ_6_2025_FRICTION_JERK_DEADZONE = 0.45
@@ -1339,6 +1348,19 @@ TRAILER_LATERAL_FRICTION_GAIN = 0.03
_FLM_ACTIVE_OVERRIDES_TEXT = ""
_FLM_ACTIVE_OVERRIDES = {}
_IONIQ_6_WEAVE_TUNE = True
_HKG_HIGHWAY_FRICTION_THRESHOLD = False
def set_lateral_test_toggles(ioniq_6_weave_tune: bool, hkg_highway_friction_threshold: bool) -> None:
global _IONIQ_6_WEAVE_TUNE, _HKG_HIGHWAY_FRICTION_THRESHOLD
_IONIQ_6_WEAVE_TUNE = bool(ioniq_6_weave_tune)
_HKG_HIGHWAY_FRICTION_THRESHOLD = bool(hkg_highway_friction_threshold)
def _ioniq_6_weave(tuned: float, legacy: float) -> float:
return tuned if _IONIQ_6_WEAVE_TUNE else legacy
def _sigmoid(x: float) -> float:
if x >= 0.0:
@@ -1358,7 +1380,11 @@ def _standard_friction_threshold_default(v_ego: float) -> float:
def _hkg_canfd_base_friction_threshold_default(v_ego: float) -> float:
return max(_gm_base_friction_threshold_default(v_ego), HKG_CANFD_BASE_FRICTION_THRESHOLD)
threshold = max(_gm_base_friction_threshold_default(v_ego), HKG_CANFD_BASE_FRICTION_THRESHOLD)
if _HKG_HIGHWAY_FRICTION_THRESHOLD:
threshold = max(threshold, float(np.interp(v_ego, HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD_BP,
[HKG_CANFD_BASE_FRICTION_THRESHOLD, HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD])))
return threshold
def _flm_copy_json(value):
@@ -3861,8 +3887,10 @@ def get_ioniq_6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
def get_ioniq_6_friction_center_fade_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_FRICTION_CENTER_FADE_SPEED) / IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_FRICTION_CENTER_FADE_LAT - abs(desired_lateral_accel)) / IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH)
return 1.0 - IONIQ_6_FRICTION_CENTER_FADE_MAX * speed_weight * center_weight
lat_width = _ioniq_6_weave(IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH, IONIQ_6_LEGACY_FRICTION_CENTER_FADE_LAT_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_FRICTION_CENTER_FADE_LAT - abs(desired_lateral_accel)) / lat_width)
fade_max = _ioniq_6_weave(IONIQ_6_FRICTION_CENTER_FADE_MAX, IONIQ_6_LEGACY_FRICTION_CENTER_FADE_MAX)
return 1.0 - fade_max * speed_weight * center_weight
def get_ioniq_6_2025_center_output_scale(desired_lateral_accel: float, v_ego: float) -> float:
@@ -3914,7 +3942,8 @@ def get_ioniq_6_2025_low_speed_center_friction_scale(desired_lateral_accel: floa
def get_ioniq_6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_CENTER_TAPER_SPEED) / IONIQ_6_CENTER_TAPER_SPEED_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_6_CENTER_TAPER_LAT_WIDTH)
lat_width = _ioniq_6_weave(IONIQ_6_CENTER_TAPER_LAT_WIDTH, IONIQ_6_LEGACY_CENTER_TAPER_LAT_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / lat_width)
high_speed_reduction = _flm_vehicle_knob("hyundai_ioniq_6.center_taper_max", IONIQ_6_CENTER_TAPER_MAX) * speed_weight * center_weight
highway_speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED) / IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH)
@@ -3959,7 +3988,9 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
curvy_turn_in_lat_cutoff = _ioniq_6_sigmoid((IONIQ_6_CURVY_TURN_IN_TRIM_LAT_END - abs_lateral_accel) /
IONIQ_6_CURVY_TURN_IN_TRIM_LAT_CUTOFF_WIDTH)
curvy_turn_in_trim_weight = curvy_turn_in_speed_weight * curvy_turn_in_lat_onset * curvy_turn_in_lat_cutoff * turn_in_weight
base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
base_reduction = _ioniq_6_side_value(desired_lateral_accel,
_ioniq_6_weave(IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_LEGACY_DIRECTIONAL_TAPER_BASE_LEFT),
_ioniq_6_weave(IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT, IONIQ_6_LEGACY_DIRECTIONAL_TAPER_BASE_RIGHT))
unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
heavy_base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT)
heavy_unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT)
@@ -4010,7 +4041,7 @@ def get_ioniq_6_output_taper_scale(desired_lateral_accel: float, desired_lateral
def get_ioniq_6_highway_output_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
speed_weight = _ioniq_6_sigmoid((v_ego - IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED) / IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH)
center_weight = _ioniq_6_sigmoid((IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT - abs(desired_lateral_accel)) /
IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH)
_ioniq_6_weave(IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH, IONIQ_6_LEGACY_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH))
reduction = IONIQ_6_HIGHWAY_OUTPUT_TAPER_MAX * speed_weight * center_weight
return 1.0 - reduction
selfdrive/controls/tests/test_lateral_test_toggles.py
+44
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@@ -0,0 +1,44 @@
import math
import pytest
from openpilot.common.constants import CV
from openpilot.selfdrive.controls.lib import latcontrol_vehicle_tunes as tunes
@pytest.fixture(autouse=True)
def _reset_toggles():
yield
tunes.set_lateral_test_toggles(True, False)
def _fade(v_ego):
return tunes.get_ioniq_6_friction_center_fade_scale(0.0, v_ego)
def test_defaults_match_production():
assert tunes._IONIQ_6_WEAVE_TUNE and not tunes._HKG_HIGHWAY_FRICTION_THRESHOLD
def test_weave_tune_off_restores_legacy_values():
v = 30.0
tunes.set_lateral_test_toggles(True, False)
tuned = (_fade(v), tunes.get_ioniq_6_center_taper_scale(0.2, v), tunes.get_ioniq_6_highway_output_taper_scale(0.12, v))
tunes.set_lateral_test_toggles(False, False)
legacy = (_fade(v), tunes.get_ioniq_6_center_taper_scale(0.2, v), tunes.get_ioniq_6_highway_output_taper_scale(0.12, v))
assert all(not math.isclose(a, b) for a, b in zip(tuned, legacy, strict=True))
speed_weight = tunes._ioniq_6_sigmoid((v - tunes.IONIQ_6_FRICTION_CENTER_FADE_SPEED) / tunes.IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH)
center_weight = tunes._ioniq_6_sigmoid(tunes.IONIQ_6_FRICTION_CENTER_FADE_LAT / tunes.IONIQ_6_LEGACY_FRICTION_CENTER_FADE_LAT_WIDTH)
assert math.isclose(legacy[0], 1.0 - tunes.IONIQ_6_LEGACY_FRICTION_CENTER_FADE_MAX * speed_weight * center_weight)
def test_hkg_highway_friction_threshold():
mph = CV.MPH_TO_MS
assert math.isclose(tunes.get_hkg_canfd_base_friction_threshold(70 * mph), tunes.HKG_CANFD_BASE_FRICTION_THRESHOLD)
tunes.set_lateral_test_toggles(True, True)
assert math.isclose(tunes.get_hkg_canfd_base_friction_threshold(20 * mph), tunes.HKG_CANFD_BASE_FRICTION_THRESHOLD)
assert math.isclose(tunes.get_hkg_canfd_base_friction_threshold(20.0), 0.585)
assert math.isclose(tunes.get_hkg_canfd_base_friction_threshold(70 * mph), tunes.HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD)
assert math.isclose(tunes.get_ioniq_6_friction_threshold(70 * mph), tunes.HKG_CANFD_HIGHWAY_FRICTION_THRESHOLD)
selfdrive/ui/layouts/settings/starpilot/lateral.py
+22 -8
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@@ -103,17 +103,17 @@ class StarPilotLateralLayout(_SettingsPage):
def aol_on():
return p.get_bool("AlwaysOnLateral")
hcg_known = []
known_keys = {}
def hcg_available():
def key_available(key):
# raises UnknownKeyName until scons rebuilds params_pyx with the new key
if not hcg_known:
if key not in known_keys:
try:
p.get_float("HighwayCorrectionGain")
hcg_known.append(True)
p.get(key)
known_keys[key] = True
except Exception:
hcg_known.append(False)
return hcg_known[0]
known_keys[key] = False
return known_keys[key]
def lc_on():
return p.get_bool("LaneChanges")
@@ -330,7 +330,21 @@ class StarPilotLateralLayout(_SettingsPage):
get_value=lambda: f"{p.get_float('HighwayCorrectionGain'):.2f}",
on_click=lambda: self._show_slider("HighwayCorrectionGain", 0.3, 1.0, step=0.05, value_type="float",
title="Highway Smoothing"),
visible=lambda: alt_on() and hcg_available(),
visible=lambda: alt_on() and key_available("HighwayCorrectionGain"),
),
SettingRow(
"Ioniq6WeaveTune", "toggle", tr_noop("Ioniq 6 Weave Tune"),
subtitle=tr_noop("Smoother center tapers and friction fade for highway weave. Off = previous values."),
get_state=lambda: p.get_bool("Ioniq6WeaveTune"),
set_state=lambda s: p.put_bool("Ioniq6WeaveTune", s),
visible=lambda: alt_on() and cs.isIoniq6 and key_available("Ioniq6WeaveTune"),
),
SettingRow(
"HKGHighwayFrictionThreshold", "toggle", tr_noop("Highway Friction Threshold"),
subtitle=tr_noop("Raises the friction threshold from 0.39 to 0.78 between 34 and 56 mph."),
get_state=lambda: p.get_bool("HKGHighwayFrictionThreshold"),
set_state=lambda s: p.put_bool("HKGHighwayFrictionThreshold", s),
visible=lambda: alt_on() and cs.isHKGCanFd and cs.isTorqueCar and not cs.isAngleCar and key_available("HKGHighwayFrictionThreshold"),
),
SettingRow(
"SteerLatAccel", "value", tr_noop("Lateral Acceleration"),
selfdrive/ui/lib/starpilot_state.py
+2
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@@ -27,6 +27,7 @@ class StarPilotCarState:
isTorqueCar: bool = False
isTSK: bool = False
isHKGCanFd: bool = False
isIoniq6: bool = False
# ========== Car Capabilities ==========
hasBSM: bool = False
@@ -170,6 +171,7 @@ class StarPilotState:
self.car_state.isFord = car_make == "ford"
self.car_state.isHKG = car_make == "hyundai"
self.car_state.isHKGCanFd = self.car_state.isHKG and safety_model == car.CarParams.SafetyModel.hyundaiCanfd
self.car_state.isIoniq6 = car_fingerprint.startswith("HYUNDAI_IONIQ_6")
self.car_state.isJeep = car_make == "chrysler" and car_fingerprint.startswith("JEEP_")
self.car_state.isSubaru = car_make == "subaru"
self.car_state.isTesla = car_make == "tesla"
starpilot/common/starpilot_variables.py
+6
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@@ -796,6 +796,12 @@ class StarPilotVariables:
toggle.highway_correction_gain = self.get_value("HighwayCorrectionGain", cast=float, condition=advanced_lateral_tuning, default=1.0, min=0.3, max=1.0)
except Exception: # UnknownKeyName until scons rebuilds params_pyx with the new key
toggle.highway_correction_gain = 1.0
try:
toggle.ioniq_6_weave_tune = self.get_value("Ioniq6WeaveTune", condition=advanced_lateral_tuning, default=True)
toggle.hkg_highway_friction_threshold = self.get_value("HKGHighwayFrictionThreshold", condition=advanced_lateral_tuning)
except Exception: # UnknownKeyName until scons rebuilds params_pyx with the new keys
toggle.ioniq_6_weave_tune = True
toggle.hkg_highway_friction_threshold = False
honda_pid_lateral = toggle.car_make == "honda" and CP.lateralTuning.which() == "pid" and not is_angle_car
toggle.honda_lateral_pid_kp_scale = self.get_value("HondaLateralPidKpScale", cast=float, condition=honda_pid_lateral, default=1.0, min=0.1, max=4.0)
toggle.honda_lateral_pid_ki_scale = self.get_value("HondaLateralPidKiScale", cast=float, condition=honda_pid_lateral, default=1.0, min=0.1, max=4.0)