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firestar5683
2026-05-06 22:47:07 -05:00
parent 8c0e8375f4
commit e5ac0c511d
6 changed files with 50 additions and 24 deletions
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opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+2
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@@ -1040,6 +1040,8 @@ class TestHyundaiFingerprint:
assert sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK == sportage_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK > sportage_high_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_low_speed_params.ANGLE_LIMITS.MAX_LATERAL_JERK < comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK
assert sportage_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL > comparison_params.ANGLE_LIMITS.MAX_LATERAL_ACCEL
assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
def test_ioniq_5_canfd_aux_messages_are_optional(self):
opendbc_repo/opendbc/car/hyundai/values.py
+17 -7
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@@ -11,6 +11,12 @@ from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = CarParams.Ecu
AVERAGE_ROAD_ROLL = 0.06 # conservative roll margin used by Hyundai CAN-FD angle steering safety
SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL = 3.25
SPORTAGE_HEV_2026_BASE_LATERAL_JERK = 3.25
SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST = 0.75
SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED = 12.0
SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 6.0
SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.0
class CarControllerParams:
@@ -53,15 +59,19 @@ class CarControllerParams:
if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
self.STEER_THRESHOLD = 175
# The Sportage angle port gets rough if it keeps the branch-wide higher jerk
# limit everywhere, but the fully calmed 3.0 m/s^3 cap lags too much in tight
# low-speed turns. Give it extra low-speed authority, then fade back to the
# calmer ceiling by normal road speeds.
# The Sportage angle port still needs more authority in real turns than the
# fully calmed branch-wide ceiling allows, but the old low-speed jerk boost
# made the 3-20 degree band angry and ping-pongy as the car slowed down.
# Split the difference:
# - keep a calmer low-speed boost that fades out earlier
# - give the car a little more true turn headroom through accel/rate limits
if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
sportage_low_speed_weight = min(max((15.0 - vEgoRaw) / 7.0, 0.0), 1.0)
sportage_lateral_jerk = 3.0 + (1.2 * sportage_low_speed_weight)
sportage_low_speed_weight = min(max((SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED - vEgoRaw) / SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH, 0.0), 1.0)
sportage_lateral_jerk = SPORTAGE_HEV_2026_BASE_LATERAL_JERK + (SPORTAGE_HEV_2026_LOW_SPEED_JERK_BOOST * sportage_low_speed_weight)
self.ANGLE_LIMITS = replace(self.ANGLE_LIMITS,
MAX_LATERAL_JERK=sportage_lateral_jerk + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL))
MAX_LATERAL_ACCEL=SPORTAGE_HEV_2026_MAX_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
MAX_LATERAL_JERK=sportage_lateral_jerk + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),
MAX_ANGLE_RATE=SPORTAGE_HEV_2026_MAX_ANGLE_RATE)
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
opendbc_repo/opendbc/car/tesla/carcontroller.py
+23 -3
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@@ -9,6 +9,27 @@ from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams
from opendbc.car.vehicle_model import VehicleModel
_PREAP_RATE_LIMIT_BP = [0., 5., 15.]
_PREAP_RATE_LIMIT_UP = [5., 0.8, 0.15]
_PREAP_RATE_LIMIT_DOWN = [5., 3.5, 0.4]
_PREAP_EPS_ANGLE_ERROR_MAX = 20.0
def _apply_preap_steer_angle_limits(desired_angle: float, last_angle: float, v_ego: float,
steering_angle: float, lat_active: bool) -> float:
if not lat_active:
return steering_angle
steer_up = (last_angle * desired_angle > 0.) and (abs(desired_angle) > abs(last_angle))
rate_limit = _PREAP_RATE_LIMIT_UP if steer_up else _PREAP_RATE_LIMIT_DOWN
max_angle_diff = float(np.interp(v_ego, _PREAP_RATE_LIMIT_BP, rate_limit))
apply_angle = float(np.clip(desired_angle, last_angle - max_angle_diff, last_angle + max_angle_diff))
# Match the older Tesla unity controller and stay close to measured EPAS angle to avoid rejection.
return float(np.clip(apply_angle,
steering_angle - _PREAP_EPS_ANGLE_ERROR_MAX,
steering_angle + _PREAP_EPS_ANGLE_ERROR_MAX))
def get_safety_CP():
from opendbc.car.tesla.interface import CarInterface
@@ -96,9 +117,8 @@ class CarController(CarControllerBase):
CS.engagement.pedal_speed_kph = 0.0
if self.frame % 2 == 0:
self.apply_angle_last = apply_steer_angle_limits_vm(
actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
lat_active, CarControllerParams, self.VM,
self.apply_angle_last = _apply_preap_steer_angle_limits(
actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CS.out.steeringAngleDeg, lat_active,
)
cntr = (self.frame // 2) % 16
can_sends.append(self.tesla_can.create_steering_control(cntr, self.apply_angle_last, lat_active))
opendbc_repo/opendbc/car/tesla/preap/carstate.py
-4
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@@ -49,10 +49,6 @@ def update_preap(cs, can_parsers):
))
cs.engagement.handle_steering_disengage(ret.steeringDisengage)
gtw_epas = cp_chassis.vl["GTW_epasControl"]
# Pre-AP steering requires the EPAS firmware patch to advertise angle control and LDW enabled.
ret.invalidLkasSetting = (gtw_epas["GTW_epasControlType"] != 1) or (gtw_epas["GTW_epasLDWEnabled"] != 1)
cruise_state = cs.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
cs.di_cruise_state = cruise_state or "OFF"
speed_units = cs.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
selfdrive/controls/lib/latcontrol_torque.py
+8 -8
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@@ -78,14 +78,14 @@ CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.03
CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.07
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_LEFT = 0.17
CIVIC_BOSCH_MODIFIED_B_VARIANT_FF_REDUCTION_RIGHT = 0.25
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.08
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.09
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.74
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 0.98
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.04
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.045
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.52
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.82
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_LEFT = 0.10
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_BOOST_RIGHT = 0.11
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_LEFT = 0.82
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_TAPER_RIGHT = 1.08
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = 0.05
CIVIC_BOSCH_MODIFIED_B_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.055
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.60
CIVIC_BOSCH_MODIFIED_B_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.94
BOLT_2022_2023_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
selfdrive/selfdrived/events.py
-2
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@@ -418,8 +418,6 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality, starpilot_toggles: SimpleNamespace) -> Alert:
text = "Toggle stock LKAS on or off to engage"
if CP.brand == "tesla" and CP.carFingerprint == "TESLA_MODEL_S_PREAP":
return NormalPermanentAlert("EPAS Firmware Required", "Flash Pre-AP EPAS firmware to enable steering")
if CP.brand == "tesla":
text = "Switch to Traffic-Aware Cruise Control to engage"
elif CP.brand == "mazda":