VW MQB: Fahrzeuglängsbeschleunigungssteuerungseinrichtung (#22963)

* can I kick it? * bumpity bump bump * bump panda * everybody's gotta be special * attempt at improving stopping/starting * reduce lateral feedforward * tweak gradient and comfort bands * oops * accel from the dept of redundancy dept * bump opendbc * jerk limiter not needed and causing problems * don't leave stop/start flags hung when not enabled * reduce comfort band with lead car * borrow decel comp from HKG * align stopping state thresholds * (re)try letting PI clean up some of this * bump panda * tweaks and comments * elide superfluous import * VW MQB: Longitudinal prereqs * gate this too * bump CI * cleanup * more cleanup; require gateway integration * don't run long state/actuators unless sending message * setpoint visibility in instrument cluster * show fixed lead car if lead visible * hold my beer? * tuning * the code is darkest before the refactor * a little more * set freewheel and stop distance correctly * rounding issue maybe? * ACC_04 Charisma profiles and HUD alerts * fix ACC_04 counter, fix gradient and accel bugs * revert tuning change in upstream focused branch * need 0.5m/s to leave * reduced braking when not absolutely needed * oops * bump panda * match opendbc to master * filter ACC_13, disable secondary accel * bump panda * bump panda * bump opendbc and panda * startAccel is deprecated * testing manual trans min engage speeds * pass stock ACC type to TSK * bump panda * bump opendbc * bump opendbc * test hax for Brake alert * remove ACC_13 with matching panda bump * fix submodule refs * update long control safety param name * bump panda * actuator delay corrected by Mk1 eyeball * a little more * tweak stop/start thresholds * Revert "tweak stop/start thresholds" This reverts commit 60abd57d2025c3218f069dbec4600c8d14033c05. * more lag reduction * bump opendbc * support both analog and digital clusters * tuning adjustments * bump opendbc and panda * accept two button types for resume * support separate set and resume * bump panda * #24706 * partial revert 6b93ac27 * fixes * one more * refactor all the things * follow experimental long refactor * fill in ACC hud status * temp force E2E availability * start cleaning up * comment touchup * gimme some comfort baby * experiment * SnG me maybe? * a little more rollout * is this why I'm not leaving? * turns out you need startAccel to leave * try without ACC_04 * cleanup unused variables * temp hack to standstill handling * temp hack to button handling * trim rollout distance with slower vEgoStopping * ultra fat comfort band due to noisy E2E actuator * I like big changes and I cannot lie * remove lead car display for now * cleanup, drives somewhat better * partial FtS/basic support * diff reduction * not needed * more cleanup * oops * more cleanup * restore lead car visible for PQ * bump panda * better enable button solution * redundant * OP long on *all* the things * OP long on all the things *sometimes* * docs generator a little TOO clever * solve starting-state a different way * try that again * bump panda * oops * follow DBC refactor * retry CI * signal name changed * sync with custom enable button branch * oops * more follow refactor * bump panda * sync opendbc to master * bump panda * updated comments * light P, no I * bump panda * bump panda again * add openpilot long test_models route * bump panda with replay route * temporarily disable experimental long for merge * bump panda to master * resolve conflict? * now can we go to head? * explicit length check * update refs Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: b31b0310444e83dc8e151767f57ee21f46f1515b
2026-08-21 08:14:00 +08:00 · 2022-11-01 13:00:26 -04:00
parent 1e30802b36
commit eb3d572add
6 changed files with 86 additions and 8 deletions
@@ -172,7 +172,8 @@ routes = [

  CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
  CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
-  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
+  CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),  # Stock ACC
+  CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7),  # openpilot longitudinal
  CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
  CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
  CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),
@@ -105,6 +105,7 @@ class CarState(CarStateBase):
    ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])

    # Update ACC radar status.
+    self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
      # ACC okay and enabled, but not currently engaged
      ret.cruiseState.available = True
@@ -480,11 +481,13 @@ class MqbExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
+    ("ACC_Typ", "ACC_06"),                       # Basic vs F2S vs SNG
    ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
    ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
    ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
  ]
  fwd_radar_checks = [
+    ("ACC_06", 50),                                 # From J428 ACC radar control module
    ("ACC_10", 50),                                 # From J428 ACC radar control module
    ("ACC_02", 17),                                 # From J428 ACC radar control module
  ]
@@ -32,14 +32,13 @@ class CarInterface(CarInterfaceBase):
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
      ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1

-      if 0x440 in fingerprint[0]:  # Getriebe_1
+      if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_1, or empty FP for CI/docs generation
        ret.transmissionType = TransmissionType.automatic
      else:
        ret.transmissionType = TransmissionType.manual

      if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)):  # Bremse_1, Lenkwinkel_1
        ret.networkLocation = NetworkLocation.gateway
-        ret.experimentalLongitudinalAvailable = True
      else:
        ret.networkLocation = NetworkLocation.fwdCamera

@@ -56,7 +55,7 @@ class CarInterface(CarInterfaceBase):
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
      ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01

-      if 0xAD in fingerprint[0]:  # Getriebe_11
+      if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0:  # Getriebe_11, or empty FP for CI/docs generation
        ret.transmissionType = TransmissionType.automatic
      elif 0x187 in fingerprint[0]:  # EV_Gearshift
        ret.transmissionType = TransmissionType.direct
@@ -82,7 +81,8 @@ class CarInterface(CarInterfaceBase):

    # Global longitudinal tuning defaults, can be overridden per-vehicle

-    if experimental_long and candidate in PQ_CARS:
+    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False  # Disabled for now
+    if experimental_long and False:  # Disabled for now
      # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
      ret.openpilotLongitudinalControl = True
      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
@@ -90,7 +90,11 @@ class CarInterface(CarInterfaceBase):
        ret.minEnableSpeed = 4.5

    ret.pcmCruise = not ret.openpilotLongitudinalControl
-    ret.longitudinalActuatorDelayUpperBound = 0.5  # s
+    ret.stoppingControl = True
+    ret.startingState = True
+    ret.startAccel = 1.0
+    ret.vEgoStarting = 1.0
+    ret.vEgoStopping = 1.0
    ret.longitudinalTuning.kpV = [0.1]
    ret.longitudinalTuning.kiV = [0.0]

@@ -36,3 +36,73 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa
  })

  return packer.make_can_msg("GRA_ACC_01", bus, values)
+
+
+def acc_control_value(main_switch_on, acc_faulted, long_active):
+  if acc_faulted:
+    acc_control = 6
+  elif long_active:
+    acc_control = 3
+  elif main_switch_on:
+    acc_control = 2
+  else:
+    acc_control = 0
+
+  return acc_control
+
+
+def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
+  # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
+  return acc_control_value(main_switch_on, acc_faulted, long_active)
+
+
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+  commands = []
+
+  acc_06_values = {
+    "ACC_Typ": acc_type,
+    "ACC_Status_ACC": acc_control,
+    "ACC_StartStopp_Info": enabled,
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
+    "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
+
+  if starting:
+    acc_hold_type = 4  # hold release / startup
+  elif esp_hold:
+    acc_hold_type = 3  # hold standby
+  elif stopping:
+    acc_hold_type = 1  # hold request
+  else:
+    acc_hold_type = 0
+
+  acc_07_values = {
+    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Freilauf_Info": 2 if enabled else 0,
+    "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
+    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_Anforderung_HMS": acc_hold_type,
+    "ACC_Anfahren": starting,
+    "ACC_Anhalten": stopping,
+  }
+  commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
+
+  return commands
+
+
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+  values = {
+    "ACC_Status_Anzeige": acc_hud_status,
+    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
+    "ACC_Gesetzte_Zeitluecke": 3,
+    "ACC_Display_Prio": 3,
+    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+  }
+
+  return packer.make_can_msg("ACC_02", bus, values)
@@ -1 +1 @@
-fc3a044c567a8702ed1500d745170c365dd6b3d4
+dd41df756253a9e711eb0fd0c3e007284f600ee8