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Cleanup car interfaces (#24948)

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* remove interface overrides

* Fix test

* set torque tune for ev6
This commit is contained in:
HaraldSchafer
2022-06-22 19:20:07 -07:00
committed by GitHub
parent 2deaf69789
commit d8bfe2f005
3 changed files with 7 additions and 16 deletions
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selfdrive/car/hyundai/interface.py
+1 -5
View File
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
elif candidate == CAR.KIA_STINGER: elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
@@ -245,10 +244,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
ret.maxLateralAccel = 2.
# TODO override until there is more data
set_torque_tune(ret.lateralTuning, 2.0, 0.05)
# Genesis # Genesis
elif candidate == CAR.GENESIS_G70: elif candidate == CAR.GENESIS_G70:
selfdrive/car/interfaces.py
+6 -4
View File
@@ -119,12 +119,14 @@ class CarInterfaceBase(ABC):
with open(TORQUE_PARAMS_PATH) as f: with open(TORQUE_PARAMS_PATH) as f:
params = yaml.load(f, Loader=yaml.FullLoader) params = yaml.load(f, Loader=yaml.FullLoader)
with open(TORQUE_OVERRIDE_PATH) as f: with open(TORQUE_OVERRIDE_PATH) as f:
params_override = yaml.load(f, Loader=yaml.FullLoader) override = yaml.load(f, Loader=yaml.FullLoader)
assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0 # Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
if candidate in params_override: if candidate in override:
out = params_override[candidate] out = override[candidate]
elif candidate in params: elif candidate in params:
out = params[candidate] out = params[candidate]
else: else:
selfdrive/car/toyota/interface.py
-7
View File
@@ -54,9 +54,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4 ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533 tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
# TODO override until there is enough data
ret.maxLateralAccel = 1.8
torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
elif candidate in (CAR.RAV4, CAR.RAV4H): elif candidate in (CAR.RAV4, CAR.RAV4H):
@@ -132,10 +129,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# TODO: remove once there's data
if candidate == CAR.RAV4_TSS2_2022:
ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw: for fw in car_fw: