mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-18 07:42:08 +08:00
Vehicle Researcher
33d5cfc393
date: 2025-12-18T23:23:16 master commit: 3cdee7b54718ee14bd85befd6c5bad3d699c5479
1.4 KiB
1.4 KiB
CarState signals
Required for basic lateral control
brakePressedcruiseStatedoorOpenespDisabledgasPressedgearShifterleftBlinker/rightBlinkerseatbeltUnlatchedstandstillsteeringAngleDegsteeringPressedsteeringTorquesteerFaultPermanentsteerFaultTemporaryvCruisewheelSpeeds.[fl|fr|rl|rr]: Speed of each of the car's four wheels, in m/s. The car's CAN bus often broadcasts the speed in kph, so the helper functionparse_wheel_speedsperforms this conversion by default.
Recommended / Required for openpilot longitudinal control
accFaultedespActiveparkingBrake
Application Dependent
blockPcmEnablebuttonEnablebrakeHoldActivecarFaultedNonCriticalinvalidLkasSettinglowSpeedAlertregenBrakingsteeringAngleOffsetDegsteeringDisengagesteeringTorqueEpsstockLkasvCruiseClustervEgoClustervehicleSensorsInvalid
Automatically populated
buttonEvents
These values are populated automatically by parse_wheel_speeds:
aEgo: Acceleration of the ego vehicle, Kalman filtered derivative ofvEgo.vEgo: Speed of the ego vehicle, Kalman filtered fromvEgoRaw.vEgoRaw: Speed of the ego vehicle, based on the average of all four wheel speeds, unfiltered.
Optional
brakechargingfuelGaugeleftBlindspot/rightBlindspotsteeringRateDegstockAebstockFcwyawRate