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Car port: Toyota Alphard (#21382)

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This commit is contained in:
John Belmonte
2021-06-25 04:10:19 +09:00
committed by GitHub
parent 450e9d2dc9
commit 6d2069b762
4 changed files with 21 additions and 1 deletions
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README.md
+1
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@@ -100,6 +100,7 @@ Supported Cars
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Alphard 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
selfdrive/car/toyota/interface.py
+10
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@@ -290,6 +290,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.ALPHARD_TSS2:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 3.00
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kf = 0.00007818594
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/toyota/values.py
+9 -1
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@@ -57,6 +57,7 @@ class CAR:
LEXUS_NX = "LEXUS NX 2018"
LEXUS_NX_TSS2 = "LEXUS NX 2020"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [
@@ -1614,6 +1615,12 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
(Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
},
CAR.ALPHARD_TSS2: {
(Ecu.engine, 0x7e0, None): [b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',],
(Ecu.eps, 0x7a1, None): [b'8965B58040\x00\x00\x00\x00\x00\x00',],
(Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F3301400\x00\x00\x00\x00',],
(Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',],
},
}
STEER_THRESHOLD = 100
@@ -1655,13 +1662,14 @@ DBC = {
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
}
# Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2])
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2])
NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
selfdrive/test/test_routes.py
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@@ -88,6 +88,7 @@ routes = [
TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),