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firestar5683
2025-08-06 13:26:15 -05:00
parent 2e884610c1
commit f047a7d008
3 changed files with 20 additions and 8 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: b68fab9ea4...91fd70341e
selfdrive/car/car_specific.py
+16 -4
View File
@@ -82,7 +82,7 @@ class CarSpecificEvents:
events = self.create_common_events(CS, CS_prev)
if self.CP.openpilotLongitudinalControl:
if CS.cruiseState.standstill and not (CS.brakePressed or self.CP.autoResumeSng):
if CS.cruiseState.standstill and not CS.brakePressed:
events.add(EventName.resumeRequired)
if CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -103,18 +103,30 @@ class CarSpecificEvents:
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if CS.cruiseState.standstill:
if CS.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired)
if CS.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
events.add(EventName.speedTooLow)
elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
# Low speed steer alert hysteresis logic
if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
if self.CP.openpilotLongitudinalControl:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
if ((CC.enabled and CS.vEgo < self.CP.minEnableSpeed) or
((self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled)):
if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
# TODO: this needs to be implemented generically in carState struct
selfdrive/car/cruise.py
+3 -3
View File
@@ -49,7 +49,7 @@ class VCruiseHelper(VCruiseHelperSP):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
if self.gm_cc_only or not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -135,8 +135,8 @@ class VCruiseHelper(VCruiseHelperSP):
initial_experimental_mode = experimental_mode and not dynamic_experimental_control
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if initial_experimental_mode else V_CRUISE_INITIAL
if ((any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized)
or (self.gm_cc_only and resume_prev_button)):
if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
self.v_cruise_kph = self.v_cruise_kph_last
else:
self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))