mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-23 06:52:07 +08:00
GM camera ACC: vision-only ACC behind toggle (#25631)
* put gm camera voacc behind disable radar toggle * bump panda * bump panda * bump panda * experimental long * fixes * car control notes and fixes for Bolt EUV * might enable stop and go * consistent name * min enable speed seems to be around 5 kph * camera acc can engage under 5 kph if stopped * comment * comment * remove this for now * only real brake * comments * update max brake * bump * clean up/fix * same if * simplify * fix * old comment * no brake_pressed * temporary fault fix * tune longitudinal * update docs * bump panda * GM camera ACC cars have no regen in ACC * cleaner * cleaner * fix * set max gas * fixes * fix LKAS unavailable warning from camera * only camera * bump panda * bump panda * bump panda * bump panda * clean up gmcan * clean up CC * flip * rm * rm comment * clean up * custom starting/stopping probably not needed * Update selfdrive/car/gm/carcontroller.py * fix crash * long tuning * we need long control state to resume * CAMERA_ACC_CAR not needed * no interp on accel * tuning * formatting * formatting * formatting * formatting * formatting * no need to init ccp * makes more sense now
This commit is contained in:
Shane Smiskol
+3
-3
@@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
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|Cadillac|Escalade ESV 2016[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
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|Chevrolet|Volt 2017-18[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
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@@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
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|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai C|
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|GMC|Acadia 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
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|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
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|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
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|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
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|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
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|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
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@@ -5,10 +5,11 @@ from common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.gm import gmcan
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from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
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from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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NetworkLocation = car.CarParams.NetworkLocation
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LongCtrlState = car.CarControl.Actuators.LongControlState
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# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
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CAMERA_CANCEL_DELAY_FRAMES = 10
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@@ -30,7 +31,7 @@ class CarController:
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self.sent_lka_steering_cmd = False
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self.lka_icon_status_last = (False, False)
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self.params = CarControllerParams()
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self.params = CarControllerParams(self.CP)
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self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
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self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
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@@ -83,20 +84,23 @@ class CarController:
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self.apply_gas = self.params.INACTIVE_REGEN
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self.apply_brake = 0
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else:
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if self.CP.carFingerprint in EV_CAR:
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self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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else:
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self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
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idx = (self.frame // 4) % 4
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at_full_stop = CC.longActive and CS.out.standstill
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near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
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friction_brake_bus = CanBus.CHASSIS
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# GM Camera exceptions
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# TODO: can we always check the longControlState?
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
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friction_brake_bus = CanBus.POWERTRAIN
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# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
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can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
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can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
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can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
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# Send dashboard UI commands (ACC status)
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send_fcw = hud_alert == VisualAlert.fcw
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@@ -1,4 +1,5 @@
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from selfdrive.car import make_can_msg
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from selfdrive.car.gm.values import CAR
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def create_buttons(packer, bus, idx, button):
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@@ -52,15 +53,20 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
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return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
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def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
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def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
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mode = 0x1
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# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
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if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
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mode = 0x9
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if apply_brake > 0:
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mode = 0xa
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if at_full_stop:
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mode = 0xd
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# TODO: this is to have GM bringing the car to complete stop,
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# but currently it conflicts with OP controls, so turned off.
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# but currently it conflicts with OP controls, so turned off. Not set by all cars
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#elif near_stop:
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# mode = 0xb
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@@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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params = CarControllerParams()
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return params.ACCEL_MIN, params.ACCEL_MAX
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return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
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# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
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@staticmethod
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@@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase):
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else:
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ret.transmissionType = TransmissionType.automatic
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.15]
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kiBP = [0.]
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if candidate in CAMERA_ACC_CAR:
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ret.openpilotLongitudinalControl = False
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ret.experimentalLongitudinalAvailable = True
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ret.networkLocation = NetworkLocation.fwdCamera
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ret.radarOffCan = True # no radar
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ret.pcmCruise = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
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ret.minEnableSpeed = 5 * CV.KPH_TO_MS
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if experimental_long:
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ret.pcmCruise = False
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
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# Tuning
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ret.longitudinalTuning.kpV = [2.0, 1.5]
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ret.longitudinalTuning.kiV = [0.72]
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ret.stopAccel = -2.0
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ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
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ret.vEgoStopping = 0.25
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ret.vEgoStarting = 0.25
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ret.longitudinalActuatorDelayUpperBound = 0.5
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else: # ASCM, OBD-II harness
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ret.openpilotLongitudinalControl = True
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ret.networkLocation = NetworkLocation.gateway
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@@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase):
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# supports stop and go, but initial engage must (conservatively) be above 18mph
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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# Tuning
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiV = [0.36]
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to selfdrive/car/tests/routes.py, we can remove it from this list.
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@@ -85,14 +109,6 @@ class CarInterface(CarInterfaceBase):
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.36]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.15]
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ret.steerLimitTimer = 0.4
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ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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+25
-17
@@ -24,15 +24,6 @@ class CarControllerParams:
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ADAS_KEEPALIVE_STEP = 100
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CAMERA_KEEPALIVE_STEP = 100
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# Volt gas/brake lookups
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# TODO: These values should be confirmed on non-Volt vehicles.
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# MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
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MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
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ZERO_GAS = 2048 # Coasting
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MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
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MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
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INACTIVE_REGEN = 1404
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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@@ -41,15 +32,32 @@ class CarControllerParams:
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ACCEL_MAX = 2. # m/s^2
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ACCEL_MIN = -4. # m/s^2
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# ICE has much less engine braking force compared to regen in EVs,
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# lower threshold removes some braking deadzone
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GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
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EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
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GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
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def __init__(self, CP):
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# Gas/brake lookups
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self.ZERO_GAS = 2048 # Coasting
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self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
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BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
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EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
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BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
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if CP.carFingerprint in CAMERA_ACC_CAR:
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self.MAX_GAS = 3400
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self.MAX_ACC_REGEN = 1514
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self.INACTIVE_REGEN = 1554
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# Camera ACC vehicles have no regen while enabled.
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# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
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max_regen_acceleration = 0.
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else:
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self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
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self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
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self.INACTIVE_REGEN = 1404
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# ICE has much less engine braking force compared to regen in EVs,
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# lower threshold removes some braking deadzone
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max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
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self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
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self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
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self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
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class CAR:
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@@ -1 +1 @@
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46922acfb984342daa35734e4297ff9d2ddfb18b
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d37afafc466661262b34631e32e4c383f1277bc5
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