diff --git a/README.md b/README.md index 1c12443c2..00ae8f969 100644 --- a/README.md +++ b/README.md @@ -62,85 +62,84 @@ At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/product Supported Cars ------ -| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | -| ----------| -----------------------------------| ------------------| -----------------| -------------------| -------------| -| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph6 | 25mph | -| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph6 | 12mph | -| Chrysler | Pacifica 2017-181 | Adaptive Cruise | Stock | 0mph | 9mph | -| Chrysler | Pacifica Hybrid 2017-181| Adaptive Cruise | Stock | 0mph | 9mph | -| Chrysler | Pacifica Hybrid 20191 | Adaptive Cruise | Stock | 0mph | 39mph | -| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph | -| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph | -| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph | -| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph | -| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | CR-V 2015-16 | Touring | openpilot | 25mph6 | 12mph | -| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph | -| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph6 | 12mph | -| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph6 | 0mph | -| Honda | Passport 2019 | All | openpilot | 25mph6 | 12mph | -| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph6 | 12mph | -| Honda | Pilot 2019 | All | openpilot | 25mph6 | 12mph | -| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph6 | 12mph | -| Hyundai | Santa Fe 20192 | All | Stock | 0mph | 0mph | -| Hyundai | Elantra 2017-192 | SCC + LKAS | Stock | 19mph | 34mph | -| Hyundai | Genesis 20182 | All | Stock | 19mph | 34mph | -| Jeep | Grand Cherokee 2016-181 | Adaptive Cruise | Stock | 0mph | 9mph | -| Jeep | Grand Cherokee 20191 | Adaptive Cruise | Stock | 0mph | 39mph | -| Kia | Optima 20192 | SCC + LKAS | Stock | 0mph | 0mph | -| Kia | Sorento 20182 | All | Stock | 0mph | 0mph | -| Kia | Stinger 20182 | SCC + LKAS | Stock | 0mph | 0mph | -| Lexus | CT Hybrid 2017-18 | All | Stock5| 0mph | 0mph | -| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph | -| Lexus | RX Hybrid 2016-19 | All | Stock5| 0mph | 0mph | -| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph | -| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph | -| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | -| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph | -| Toyota | Avalon 2016 | TSS-P | Stock5| 20mph6 | 0mph | -| Toyota | Avalon 2017-18 | All | Stock5| 20mph6 | 0mph | -| Toyota | Camry 2018-19 | All | Stock | 0mph3 | 0mph | -| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph3 | 0mph | -| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph | -| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph | -| Toyota | Corolla 2017-19 | All | Stock5| 20mph6 | 0mph | -| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph | -| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph | -| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph | -| Toyota | Highlander 2017-19 | All | Stock5| 0mph | 0mph | -| Toyota | Highlander Hybrid 2017-19 | All | Stock5| 0mph | 0mph | -| Toyota | Prius 2016 | TSS-P | Stock5| 0mph | 0mph | -| Toyota | Prius 2017-19 | All | Stock5| 0mph | 0mph | -| Toyota | Prius Prime 2017-20 | All | Stock5| 0mph | 0mph | -| Toyota | Rav4 2016 | TSS-P | Stock5| 20mph6 | 0mph | -| Toyota | Rav4 2017-18 | All | Stock5| 20mph6 | 0mph | -| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph | -| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock5| 0mph | 0mph | -| Toyota | Rav4 Hybrid 2017-18 | All | Stock5| 0mph | 0mph | -| Toyota | Sienna 2018 | All | Stock5| 0mph | 0mph | -| Volkswagen| Golf 2016-194 | Driver Assistance | Stock | 0mph | 0mph | +| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | +| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------| +| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 25mph | +| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 12mph | +| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Stock | 0mph | 39mph | +| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph | +| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph | +| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph | +| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph | +| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | CR-V 2015-16 | Touring | openpilot | 25mph5 | 12mph | +| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph | +| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph5 | 12mph | +| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph5 | 0mph | +| Honda | Passport 2019 | All | openpilot | 25mph5 | 12mph | +| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph5 | 12mph | +| Honda | Pilot 2019 | All | openpilot | 25mph5 | 12mph | +| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph5 | 12mph | +| Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph | +| Hyundai | Elantra 2017-191 | SCC + LKAS | Stock | 19mph | 34mph | +| Hyundai | Genesis 20181 | All | Stock | 19mph | 34mph | +| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph | +| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph | +| Kia | Optima 20191 | SCC + LKAS | Stock | 0mph | 0mph | +| Kia | Sorento 20181 | All | Stock | 0mph | 0mph | +| Kia | Stinger 20181 | SCC + LKAS | Stock | 0mph | 0mph | +| Lexus | CT Hybrid 2017-18 | All | Stock4| 0mph | 0mph | +| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph | +| Lexus | RX Hybrid 2016-19 | All | Stock4| 0mph | 0mph | +| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph | +| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph | +| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph | +| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph | +| Toyota | Avalon 2016 | TSS-P | Stock4| 20mph5 | 0mph | +| Toyota | Avalon 2017-18 | All | Stock4| 20mph5 | 0mph | +| Toyota | Camry 2018-19 | All | Stock | 0mph2 | 0mph | +| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph2 | 0mph | +| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph | +| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph | +| Toyota | Corolla 2017-19 | All | Stock4| 20mph5 | 0mph | +| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph | +| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph | +| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph | +| Toyota | Highlander 2017-19 | All | Stock4| 0mph | 0mph | +| Toyota | Highlander Hybrid 2017-19 | All | Stock4| 0mph | 0mph | +| Toyota | Prius 2016 | TSS-P | Stock4| 0mph | 0mph | +| Toyota | Prius 2017-19 | All | Stock4| 0mph | 0mph | +| Toyota | Prius Prime 2017-20 | All | Stock4| 0mph | 0mph | +| Toyota | Rav4 2016 | TSS-P | Stock4| 20mph5 | 0mph | +| Toyota | Rav4 2017-18 | All | Stock4| 20mph5 | 0mph | +| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph | +| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock4| 0mph | 0mph | +| Toyota | Rav4 Hybrid 2017-18 | All | Stock4| 0mph | 0mph | +| Toyota | Sienna 2018 | All | Stock4| 0mph | 0mph | +| Volkswagen| Golf 2016-193 | Driver Assistance | Stock | 0mph | 0mph | -1Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [FCA giraffe](https://comma.ai/shop/products/giraffe)
-2Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models.
-328mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-4Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness)
+1Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and open sourced [Hyundai giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai), designed for the 2019 Sante Fe; pinout may differ for other Hyundai and Kia models.
+228mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+3Requires a [custom connector](https://community.comma.ai/wiki/index.php/Volkswagen#Integration_at_R242_Camera) for the [car harness](https://comma.ai/shop/products/car-harness)
Community Maintained Cars and Features ------ -| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | -| ----------| -----------------------------------| ------------------| -----------------| -------------------| -------------| -| Buick | Regal 20187 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Chevrolet | Malibu 20177 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Chevrolet | Volt 2017-187 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Cadillac | ATS 20187 | Adaptive Cruise | openpilot | 0mph | 7mph | -| GMC | Acadia Denali 20187 | Adaptive Cruise | openpilot | 0mph | 7mph | -| Holden | Astra 20177 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below | +| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------| +| Buick | Regal 20186 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Chevrolet | Malibu 20176 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Chevrolet | Volt 2017-186 | Adaptive Cruise | openpilot | 0mph | 7mph | +| Cadillac | ATS 20186 | Adaptive Cruise | openpilot | 0mph | 7mph | +| GMC | Acadia Denali 20186| Adaptive Cruise | openpilot | 0mph | 7mph | +| Holden | Astra 20176 | Adaptive Cruise | openpilot | 0mph | 7mph | -5When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).***
-6[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).***
-7Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).***
+4When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).***
+5[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).***
+6Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).***
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`. @@ -277,8 +276,7 @@ Directory Structure ├── locationd # Soon to be home of precise location ├── logcatd # Android logcat as a service ├── loggerd # Logger and uploader of car data - ├── modeld # Driving model runner - ├── monitoringd # Driver monitoring model runner + ├── modeld # Driving and monitoring model runners ├── proclogd # Logs information from proc ├── sensord # IMU / GPS interface code ├── tests # Unit tests, system tests and a car simulator diff --git a/common/params.py b/common/params.py index 61f56823d..a987be337 100755 --- a/common/params.py +++ b/common/params.py @@ -157,6 +157,9 @@ keys = { "DragonRunWaze": [TxType.PERSISTENT], "DragonEnableAssistedLC": [TxType.PERSISTENT], "DragonEnableAutoLC": [TxType.PERSISTENT], + "DragonAssistedLCMinMPH": [TxType.PERSISTENT], + "DragonAutoLCMinMPH": [TxType.PERSISTENT], + "DragonAutoLCDelay": [TxType.PERSISTENT], } diff --git a/panda/VERSION b/panda/VERSION index 538a65cc8..b7c8e167d 100644 --- a/panda/VERSION +++ b/panda/VERSION @@ -1 +1 @@ -v1.6.9 \ No newline at end of file +v1.7.0 \ No newline at end of file diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h index e76836d28..6a78d5039 100644 --- a/panda/board/safety/safety_honda.h +++ b/panda/board/safety/safety_honda.h @@ -6,7 +6,7 @@ // accel rising edge // brake rising edge // brake > 0mph -const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}, {0x39F, 0}}; +const AddrBus HONDA_N_TX_MSGS[] = {{0xE4, 0}, {0x194, 0}, {0x1FA, 0}, {0x200, 0}, {0x30C, 0}, {0x33D, 0}}; const AddrBus HONDA_BH_TX_MSGS[] = {{0xE4, 0}, {0x296, 1}, {0x33D, 0}}; // Bosch Harness const AddrBus HONDA_BG_TX_MSGS[] = {{0xE4, 2}, {0x296, 0}, {0x33D, 2}}; // Bosch Giraffe const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 328; // ratio between offset and gain from dbc file @@ -217,7 +217,6 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { // fwd from car to camera. also fwd certain msgs from camera to car // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX, // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud, - // 0x39f is radar hud int bus_fwd = -1; if (!relay_malfunction) { @@ -228,7 +227,7 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { // block stock lkas messages and stock acc messages (if OP is doing ACC) int addr = GET_ADDR(to_fwd); bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D); - bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F); + bool is_acc_hud_msg = addr == 0x30C; bool is_brake_msg = addr == 0x1FA; bool block_fwd = is_lkas_msg || (is_acc_hud_msg && long_controls_allowed) || diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py index 6ab247835..f89e7a593 100755 --- a/panda/tests/safety/test_honda.py +++ b/panda/tests/safety/test_honda.py @@ -8,7 +8,7 @@ from panda.tests.safety.common import test_relay_malfunction, make_msg, test_man MAX_BRAKE = 255 INTERCEPTOR_THRESHOLD = 328 -TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0], [0x39F, 0]] +TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]] class TestHondaSafety(unittest.TestCase): @classmethod @@ -253,7 +253,7 @@ class TestHondaSafety(unittest.TestCase): self.safety.set_long_controls_allowed(l) blocked_msgs = [0xE4, 0x194, 0x33D] if l: - blocked_msgs += [0x30C, 0x39F] + blocked_msgs += [0x30C] if not f: blocked_msgs += [0x1FA] for b in buss: diff --git a/panda/tests/safety_replay/test_safety_replay.py b/panda/tests/safety_replay/test_safety_replay.py index b4278351f..4b2f5372d 100755 --- a/panda/tests/safety_replay/test_safety_replay.py +++ b/panda/tests/safety_replay/test_safety_replay.py @@ -11,7 +11,7 @@ BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" # (route, safety mode, param) logs = [ - ("b0c9d2329ad1606b|2019-05-30--20-23-57.bz2", Panda.SAFETY_HONDA, 0), # HONDA.CIVIC + ("2425568437959f9d|2019-12-22--16-24-37.bz2", Panda.SAFETY_HONDA_NIDEC, 0), # HONDA.CIVIC (fcw presents: 0x1FA blocked as expected) ("38bfd238edecbcd7|2019-06-07--10-15-25.bz2", Panda.SAFETY_TOYOTA, 66), # TOYOTA.PRIUS ("f89c604cf653e2bf|2018-09-29--13-46-50.bz2", Panda.SAFETY_GM, 0), # GM.VOLT ("0375fdf7b1ce594d|2019-05-21--20-10-33.bz2", Panda.SAFETY_HONDA_BOSCH, 1), # HONDA.ACCORD diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 63d566457..c8582dc82 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ from selfdrive.config import Conversions as CV -from selfdrive.car.honda.values import CAR, HONDA_BOSCH +from selfdrive.car.honda.values import HONDA_BOSCH def get_pt_bus(car_fingerprint, has_relay): @@ -25,7 +25,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ "COMPUTER_BRAKE_REQUEST": brake_rq, "SET_ME_1": 1, "BRAKE_LIGHTS": brakelights, - "CHIME": stock_brake["CHIME"], # chime issued when disabling FCM + "CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw "FCW": fcw << 1, # TODO: Why are there two bits for fcw? "AEB_REQ_1": 0, "AEB_REQ_2": 0, @@ -77,14 +77,6 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, } commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx)) - if car_fingerprint in (CAR.CIVIC, CAR.ODYSSEY): - radar_hud_values = { - 'ACC_ALERTS': hud.acc_alert, - 'LEAD_SPEED': 0x1fe, # What are these magic values - 'LEAD_STATE': 0x7, - 'LEAD_DISTANCE': 0x1e, - } - commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx)) return commands diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index ffcf51316..c6ebe9586 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -266,10 +266,14 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr # add eventual driver distracted events events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill) - # send FCW alert if triggered by planner - if plan.fcw or CS.stockFcw: + if plan.fcw: + # send FCW alert if triggered by planner AM.add(frame, "fcw", enabled) + elif CS.stockFcw: + # send a silent alert when stock fcw triggers, since the car is already beeping + AM.add(frame, "fcwStock", enabled) + # State specific actions if state in [State.preEnabled, State.disabled]: diff --git a/selfdrive/controls/lib/alerts.py b/selfdrive/controls/lib/alerts.py index d5076ead5..7bfea024f 100644 --- a/selfdrive/controls/lib/alerts.py +++ b/selfdrive/controls/lib/alerts.py @@ -82,6 +82,13 @@ ALERTS = [ AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.), + Alert( + "fcwStock", + "BRAKE!", + "Risk of Collision", + AlertStatus.critical, AlertSize.full, + Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.), # no EON chime for stock FCW + Alert( "steerSaturated", "接管控制", diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index f52c68e90..0fb6bf1b3 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -64,6 +64,9 @@ class PathPlanner(): self.dragon_auto_lc_enabled = False self.dragon_auto_lc_allowed = False self.dragon_auto_lc_timer = None + self.dragon_assisted_lc_min_mph = 37 + self.dragon_auto_lc_min_mph = 60 + self.dragon_auto_lc_delay = 2. self.last_ts = 0. def setup_mpc(self): @@ -88,6 +91,21 @@ class PathPlanner(): if cur_time - self.last_ts > 5.: self.dragon_assisted_lc_enabled = True if self.params.get("DragonEnableAssistedLC", encoding='utf8') == "1" else False self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False + # adjustable assisted lc min speed + self.dragon_assisted_lc_min_mph = float(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) + if self.dragon_assisted_lc_min_mph < 0: + self.dragon_assisted_lc_min_mph = 0. + # adjustable auto lc min speed + self.dragon_auto_lc_min_mph = float(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) + if self.dragon_auto_lc_min_mph < 0: + self.dragon_auto_lc_min_mph = 0. + # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc + if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph: + self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph + # adjustable auto lc delay + self.dragon_auto_lc_delay = float(self.params.get("DragonAutoLCDelay", encoding='utf8')) + if self.dragon_auto_lc_delay < 0: + self.dragon_auto_lc_delay = 0. self.last_ts = cur_time v_ego = sm['carState'].vEgo @@ -129,13 +147,13 @@ class PathPlanner(): # dragonpilot auto lc if self.dragon_assisted_lc_enabled: # we allow auto lc when speed is > 60mph / 96.5kph - if self.dragon_auto_lc_enabled and v_ego >= 60 * CV.MPH_TO_MS: + if self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph * CV.MPH_TO_MS: self.dragon_auto_lc_allowed = True if self.dragon_auto_lc_timer is None: # we only set timer when in preLaneChange state, 2 secs delay if self.lane_change_state == LaneChangeState.preLaneChange: - self.dragon_auto_lc_timer = cur_time + 2. + self.dragon_auto_lc_timer = cur_time + self.dragon_auto_lc_delay else: # if timer is up, we set torque_applied to True to fake user input if cur_time > self.dragon_auto_lc_timer: @@ -170,7 +188,7 @@ class PathPlanner(): self.dragon_auto_lc_timer = None # Don't allow starting lane change below 37 mph / 59.5kph - if (v_ego < 37 * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange): + if (v_ego < self.dragon_assisted_lc_min_mph * CV.MPH_TO_MS) and (self.lane_change_state == LaneChangeState.preLaneChange): self.lane_change_state = LaneChangeState.off if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]: diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py index cc1779e55..929535f2a 100644 --- a/selfdrive/dragonpilot/dragonconf/__init__.py +++ b/selfdrive/dragonpilot/dragonconf/__init__.py @@ -61,6 +61,9 @@ default_conf = { 'DragonRunWaze': '0', 'DragonEnableAssistedLC': '0', 'DragonEnableAutoLC': '0', + 'DragonAssistedLCMinMPH': 37, + 'DragonAutoLCMinMPH': 60, + 'DragonAutoLCDelay': 2, } deprecated_conf = { diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f603a2498..0c0be19b6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b2364d6239bca0a8caaf11f0433bf766c66e15a4 \ No newline at end of file +89304bdcab73fa43a8dd39cab93bc4ea4c9cbbdb \ No newline at end of file