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Torque Rest of Fleet

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This commit is contained in:
firestar5683
2025-12-13 18:41:16 -06:00
parent 365bf72ca2
commit eee41cbf77
5 changed files with 46 additions and 29 deletions
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opendbc/gm_global_a_powertrain_generated.dbc
-1
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@@ -232,7 +232,6 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO
SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
BO_ 717 ASCM_2CD: 5 K124_ASCM
selfdrive/car/gm/carcontroller.py
+41 -17
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@@ -49,12 +49,11 @@ class CarController(CarControllerBase):
self.params = CarControllerParams(self.CP)
self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
if self.is_volt:
self.mass = CP.mass
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
self.coeffDrag = 0.30
self.airDensity = 1.225
self.mass = CP.mass
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
self.coeffDrag = 0.30
self.airDensity = 1.225
self.params_ = Params()
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
@@ -166,21 +165,46 @@ class CarController(CarControllerBase):
accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
else:
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
accel_due_to_pitch = 0.0
gas_max = self.params.MAX_GAS
accel_max = self.params.ACCEL_MAX
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass * accel) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
scaled_torque = torque + self.params.ZERO_GAS
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
brake_accel = min((scaled_torque - BRAKE_SWITCH) / (self.tireRadius * self.mass), 0)
self.apply_gas = int(round(apply_gas_torque))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.is_volt and self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
if self.apply_brake > 0 and self.apply_gas > self.params.INACTIVE_REGEN:
self.apply_gas = self.params.INACTIVE_REGEN
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
selfdrive/car/gm/gmcan.py
-1
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@@ -66,7 +66,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
"GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1,
"GasRegenAlwaysOne2": 1,
"GasRegenAlwaysOne3": 1,
}
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
selfdrive/car/gm/interface.py
+2 -2
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@@ -148,12 +148,12 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
# Tuning for experimental long
ret.longitudinalTuning.kiV = [1.0, 1.0]
ret.longitudinalTuning.kiV = [0.5, 0.5]
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.20
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
selfdrive/car/gm/values.py
+3 -8
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@@ -38,9 +38,8 @@ class CarControllerParams:
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 6144 # Coasting
self.ZERO_GAS = 6150 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
self.BRAKE_SWITCH_MAX = self.ZERO_GAS
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 7496
@@ -60,12 +59,8 @@ class CarControllerParams:
# lower threshold removes some braking deadzone
self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
if CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC):
self.ZERO_GAS = 6150
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
else:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]