mirror of
https://github.com/firestar5683/StarPilot.git
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Honda Bosch Radarless: experimental longitudinal support (#25364)
* civic22_long * Stock requests -4 * add standstill bit * bump * fix standstill * bump * bump * bump panda * Update hondacan.py * bump panda * add docs * bump panda * bump panda * fix control_on value * set control_off * fix cars.md * Update panda * Update opendbc * Update panda * Update panda * allow more braking * Revert "allow more braking" This reverts commit ecd2493a436a095b621d815e8b0c7591fa6b93a9. * Update panda * fix speed mismatch * Revert "fix speed mismatch" This reverts commit ca795dc5bd9d6e841225e1ac1ff93a1f78618513. * Update panda * fix speed mismatch and standstill * delay stopped message to match stock behavior * green cruise only when enabled * Update panda * Revert "green cruise only when enabled" This reverts commit d21aa5b541a42fa6d1c87e3b065f720af28ff38b. * lesser nester * simplify * simplify control_on * simplify common signals * simplify CONTROL_ON * lessest nester * hide speed on gas_override to match stock behavior * tiny simplification, lesser nester * flip common acc control values around * move magic number to global variable * Revert "move magic number to global variable" This reverts commit 160be0e0872dc08a8786d97fc2125b2eb131362d. * remove stopped logic * remove unused variable * looks ok * looks better * simplify override * clarify CONTROL_OFF signal comment * civic22_long_bettercontroloff shorten delay init selfless whoops move to carcontroller selfmore lower time, currently take 5s to kick in just right deline * Rename CONTROL_OFF -> IDLESTOP_ALLOW This tells the car its ready to turn off the engine, which does so when the car is standstill. * Update panda * Update opendbc * Update panda * fix docs * Update panda * Update panda * Update opendbc * Update panda * Update panda * Update panda * Update panda * bump panda * idlestop in another PR * radarless doesn't need tester present * simplify that * helper * one line is fine * test bump * bumpback * disallow * reduce diff --------- Co-authored-by: sshane <shane@smiskol.com> old-commit-hash: 1853d6f40edc07a49a910f6fb8cedab96e9f3521
This commit is contained in:
royjr
+2
-2
@@ -44,9 +44,9 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
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|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
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|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
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|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
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|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
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|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
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|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
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|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
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|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
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@@ -1,7 +1,6 @@
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from collections import namedtuple
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from cereal import car
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from common.conversions import Conversions as CV
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from common.numpy_fast import clip, interp
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from common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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@@ -127,7 +126,8 @@ class CarController:
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
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conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
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hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
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pcm_cancel_cmd = CC.cruiseControl.cancel
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if CC.longActive:
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@@ -161,7 +161,7 @@ class CarController:
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can_sends = []
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# tester present - w/ no response (keeps radar disabled)
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if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
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if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
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if self.frame % 10 == 0:
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can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
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@@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
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from common.numpy_fast import interp
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from selfdrive.car.honda.hondacan import get_pt_bus
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from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
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from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
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from selfdrive.car.interfaces import CarStateBase
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@@ -246,8 +246,7 @@ class CarState(CarStateBase):
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ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
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ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
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# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
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conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
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conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
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# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
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ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
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self.v_cruise_pcm_prev = ret.cruiseState.speed
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@@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
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return 0
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def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
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# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
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return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
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def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
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# TODO: do we loose pressure if we keep pump off for long?
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brakelights = apply_brake > 0
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@@ -58,27 +63,36 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
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standstill = 1 if active and stopping else 0
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standstill_release = 1 if active and not stopping else 0
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# common ACC_CONTROL values
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acc_control_values = {
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# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
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"CONTROL_ON": control_on,
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"GAS_COMMAND": gas_command, # used for gas
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"ACCEL_COMMAND": accel_command, # used for brakes
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"BRAKE_LIGHTS": braking,
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"BRAKE_REQUEST": braking,
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"STANDSTILL": standstill,
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"STANDSTILL_RELEASE": standstill_release,
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'ACCEL_COMMAND': accel_command,
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'STANDSTILL': standstill,
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}
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if car_fingerprint in HONDA_BOSCH_RADARLESS:
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acc_control_values.update({
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"CONTROL_ON": enabled,
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"IDLESTOP_ALLOW": 0, # disallows idle stop
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})
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else:
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acc_control_values.update({
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# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
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"CONTROL_ON": control_on,
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"GAS_COMMAND": gas_command, # used for gas
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"BRAKE_LIGHTS": braking,
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"BRAKE_REQUEST": braking,
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"STANDSTILL_RELEASE": standstill_release,
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})
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acc_control_on_values = {
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"SET_TO_3": 0x03,
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"CONTROL_ON": enabled,
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"SET_TO_FF": 0xff,
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"SET_TO_75": 0x75,
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"SET_TO_30": 0x30,
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}
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commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
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commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
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acc_control_on_values = {
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"SET_TO_3": 0x03,
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"CONTROL_ON": enabled,
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"SET_TO_FF": 0xff,
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"SET_TO_75": 0x75,
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"SET_TO_30": 0x30,
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}
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commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
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return commands
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@@ -37,13 +37,11 @@ class CarInterface(CarInterfaceBase):
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if candidate in HONDA_BOSCH:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
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ret.radarUnavailable = True
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if candidate not in HONDA_BOSCH_RADARLESS:
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES AEB!
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ret.experimentalLongitudinalAvailable = True
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ret.openpilotLongitudinalControl = experimental_long
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES AEB!
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# If Bosch radarless, this blocks ACC messages from the camera
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ret.experimentalLongitudinalAvailable = True
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ret.openpilotLongitudinalControl = experimental_long
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ret.pcmCruise = not ret.openpilotLongitudinalControl
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else:
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
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@@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase):
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ret.longitudinalTuning.kpV = [0.25]
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ret.longitudinalTuning.kiV = [0.05]
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ret.longitudinalActuatorDelayUpperBound = 0.5 # s
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if candidate in HONDA_BOSCH_RADARLESS:
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ret.stopAccel = -4.0
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else:
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# default longitudinal tuning for all hondas
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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