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ev9

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firestar5683
2026-06-28 15:52:01 -05:00
parent d9e0345a2b
commit f50b8dabbb
2 changed files with 24 additions and 1 deletions
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opendbc_repo/opendbc/car/hyundai/carcontroller.py
+12
View File
@@ -66,6 +66,9 @@ REDNECK_BUTTON_COPIES_TIME_METRIC = [REDNECK_BUTTON_COPIES_TIME, 40]
ANGLE_SAFETY_BASELINE_MODEL = str(CAR.KIA_SPORTAGE_HEV_2026)
DEFAULT_ANGLE_SMOOTHING_VEGO_BP = [5.0, 10.0, 20.0]
DEFAULT_ANGLE_SMOOTHING_ALPHA_V = [0.2, 0.1, 0.0]
EV9_HIGH_ANGLE_GAIN_BP = [70.0, 120.0, 220.0, 320.0]
EV9_HIGH_ANGLE_GAIN_CAP_V = [0.85, 0.55, 0.30, 0.16]
EV9_HIGH_ANGLE_GAIN_MIN = 0.004
def egmp_dynamic_longitudinal_tuning(CP) -> bool:
@@ -243,6 +246,14 @@ def compute_torque_reduction_gain(steering_torque, v_ego, lat_active, last_gain)
return round(gain / 0.004) * 0.004
def apply_ev9_high_angle_gain_cap(CP, gain: float, steering_angle_deg: float, lat_active: bool) -> float:
if CP.carFingerprint != CAR.KIA_EV9 or not CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING or not lat_active:
return gain
cap = float(np.interp(abs(steering_angle_deg), EV9_HIGH_ANGLE_GAIN_BP, EV9_HIGH_ANGLE_GAIN_CAP_V))
return max(EV9_HIGH_ANGLE_GAIN_MIN, min(gain, cap))
def process_hud_alert(enabled, fingerprint, hud_control):
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
@@ -399,6 +410,7 @@ class CarController(CarControllerBase):
CS.out.steeringAngleDeg, CC.latActive, self.params, self.BASELINE_VM)
apply_torque = compute_torque_reduction_gain(CS.out.steeringTorque, v_ego_raw, CC.latActive, self.apply_torque_last)
apply_torque = apply_ev9_high_angle_gain_cap(self.CP, apply_torque, CS.out.steeringAngleDeg, CC.latActive)
apply_steer_req = CC.latActive and apply_torque != 0.0
torque_fault = False
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+12 -1
View File
@@ -11,7 +11,7 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
update_ioniq_6_longitudinal_tuning, \
update_genesis_g90_longitudinal_tuning, egmp_dynamic_longitudinal_tuning, \
should_reset_ev6_gt_line_longitudinal_tuning, reset_ev6_gt_line_longitudinal_tuning, \
get_angle_smoothing_alpha
get_angle_smoothing_alpha, apply_ev9_high_angle_gain_cap
from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai import hyundaican, hyundaicanfd
@@ -288,6 +288,17 @@ class TestHyundaiFingerprint:
assert get_angle_smoothing_alpha(ev9_cp, 20.0) == pytest.approx(get_angle_smoothing_alpha(other_cp, 20.0))
assert get_angle_smoothing_alpha(other_cp, 20.0) == pytest.approx(0.0)
def test_ev9_high_angle_gain_cap_is_ev9_only_and_nonzero(self):
ev9_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV9, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))
sportage_cp = SimpleNamespace(carFingerprint=CAR.KIA_SPORTAGE_HEV_2026, flags=int(HyundaiFlags.CANFD_ANGLE_STEERING))
assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 60.0, True) == pytest.approx(0.70)
assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 120.0, True) == pytest.approx(0.55)
assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 320.0, True) == pytest.approx(0.16)
assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.0, 320.0, True) > 0.0
assert apply_ev9_high_angle_gain_cap(ev9_cp, 0.70, 320.0, False) == pytest.approx(0.70)
assert apply_ev9_high_angle_gain_cap(sportage_cp, 0.70, 320.0, True) == pytest.approx(0.70)
def test_ccnc_hda2_lka_layout_does_not_set_ccnc_safety_param(self):
fingerprint = gen_empty_fingerprint()
cam_can = CanBus(None, fingerprint).CAM