mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-18 15:52:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

ev9 angle

Browse Source
This commit is contained in:
firestar5683
2026-07-17 14:02:38 -05:00
parent 28141e3074
commit e3c377df34
2 changed files with 32 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+19 -2
View File
@@ -67,9 +67,11 @@ REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
DEFAULT_ANGLE_SMOOTHING_VEGO_BP = [5.0, 10.0, 20.0]
DEFAULT_ANGLE_SMOOTHING_ALPHA_V = [0.2, 0.1, 0.0]
EV9_HIGH_ANGLE_GAIN_BP = [70.0, 120.0, 220.0, 320.0]
EV9_HIGH_ANGLE_GAIN_CAP_V = [0.85, 0.55, 0.30, 0.16]
EV9_HIGH_ANGLE_GAIN_BP = [0.0, 70.0, 120.0, 220.0, 320.0]
EV9_HIGH_ANGLE_GAIN_CAP_V = [1.0, 0.85, 0.55, 0.30, 0.16]
EV9_HIGH_ANGLE_GAIN_MIN = 0.004
EV9_TRACKING_GAIN_FULL_TORQUE = 75.0
EV9_TRACKING_GAIN_RELEASE_TORQUE = 125.0
EV9_DRIVER_OVERRIDE_TORQUE_THRESHOLD = 175.0
EV9_DRIVER_OVERRIDE_GAIN_BP = [0.0, 175.0, 350.0, 525.0]
EV9_DRIVER_OVERRIDE_GAIN_CAP_V = [0.08, 0.08, 0.04, 0.004]
@@ -262,6 +264,20 @@ def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain)
return round(gain / 0.004) * 0.004
def apply_ev9_tracking_gain(CP, gain: float, steering_torque: float, steering_pressed: bool, lat_active: bool) -> float:
if CP.carFingerprint != CAR.KIA_EV9 or not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING or not lat_active or steering_pressed:
return gain
torque = abs(steering_torque)
if torque >= EV9_TRACKING_GAIN_RELEASE_TORQUE:
return gain
tracking_floor = float(np.interp(torque,
[EV9_TRACKING_GAIN_FULL_TORQUE, EV9_TRACKING_GAIN_RELEASE_TORQUE],
[1.0, 0.85]))
return max(gain, tracking_floor)
def apply_ev9_high_angle_gain_cap(CP, gain: float, steering_angle_deg: float, lat_active: bool,
steering_torque: float = 0.0, steering_pressed: bool = False) -> float:
if CP.carFingerprint != CAR.KIA_EV9 or not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING or not lat_active:
@@ -472,6 +488,7 @@ class CarController(CarControllerBase):
CS.out.steeringAngleDeg, CC.latActive, self.params, self.BASELINE_VM)
apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
apply_torque = apply_ev9_tracking_gain(self.CP, apply_torque, CS.out.steeringTorque, CS.out.steeringPressed, CC.latActive)
apply_torque = apply_ev9_high_angle_gain_cap(self.CP, apply_torque, CS.out.steeringAngleDeg, CC.latActive,
CS.out.steeringTorque, CS.out.steeringPressed)
_, recovery_gain_cap = get_ev9_driver_override_recovery_limits(self.CP, self._ev9_driver_override_recovery_frames)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+13 -1
View File
@@ -11,7 +11,8 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
update_ioniq_6_longitudinal_tuning, \
update_genesis_g90_longitudinal_tuning, egmp_dynamic_longitudinal_tuning, \
should_reset_ev6_gt_line_longitudinal_tuning, reset_ev6_gt_line_longitudinal_tuning, \
get_angle_smoothing_alpha, apply_ev9_high_angle_gain_cap, ev9_driver_override_active, \
get_angle_smoothing_alpha, apply_ev9_tracking_gain, apply_ev9_high_angle_gain_cap, \
ev9_driver_override_active, \
get_ev9_driver_override_recovery_limits, should_use_ev6_gt_line_stop_direct_tracking
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state
from opendbc.car.hyundai.interface import CarInterface
@@ -306,6 +307,17 @@ class TestHyundaiFingerprint:
assert apply_ev9_high_angle_gain_cap(sportage_cp, 0.70, 320.0, True) == pytest.approx(0.70)
assert apply_ev9_high_angle_gain_cap(sportage_cp, 0.70, 30.0, True, 400.0, True) == pytest.approx(0.70)
def test_ev9_tracking_gain_is_ev9_only_and_preserves_driver_override(self):
ev9_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV9, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))
sportage_cp = SimpleNamespace(carFingerprint=CAR.KIA_SPORTAGE_HEV_2026, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))
assert apply_ev9_tracking_gain(ev9_cp, 0.848, 0.0, False, True) == pytest.approx(1.0)
assert apply_ev9_tracking_gain(ev9_cp, 0.848, 100.0, False, True) == pytest.approx(0.925)
assert apply_ev9_tracking_gain(ev9_cp, 0.60, 125.0, False, True) == pytest.approx(0.60)
assert apply_ev9_tracking_gain(ev9_cp, 0.60, 0.0, True, True) == pytest.approx(0.60)
assert apply_ev9_tracking_gain(ev9_cp, 0.60, 0.0, False, False) == pytest.approx(0.60)
assert apply_ev9_tracking_gain(sportage_cp, 0.60, 0.0, False, True) == pytest.approx(0.60)
def test_ev9_driver_override_recovery_limits_are_ev9_only(self):
ev9_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV9, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))
sportage_cp = SimpleNamespace(carFingerprint=CAR.KIA_SPORTAGE_HEV_2026, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))