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interfaces: add common STD_CARGO_KG to mass (#29416)

Browse Source 
* cleanup std_cargo_kg

* fix Sonata mass

* remove snowflake construct

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Young
2023-08-18 00:06:07 -04:00
committed by GitHub
parent 8dcd108972
commit f76ffbdbbc
12 changed files with 154 additions and 150 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/chrysler/interface.py
+5 -5
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from selfdrive.car.interfaces import CarInterfaceBase
@@ -35,7 +35,7 @@ class CarInterface(CarInterfaceBase):
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
ret.mass = 2242. + STD_CARGO_KG
ret.mass = 2242.
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
@@ -46,7 +46,7 @@ class CarInterface(CarInterfaceBase):
# Jeep
elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.mass = 1778 + STD_CARGO_KG
ret.mass = 1778
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
@@ -61,7 +61,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493. + STD_CARGO_KG
ret.mass = 2493.
ret.minSteerSpeed = 14.5
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785
ret.steerRatio = 15.61
ret.mass = 3405. + STD_CARGO_KG
ret.mass = 3405.
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
selfdrive/car/ford/interface.py
+7 -7
View File
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.ford.fordcan import CanBus
from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
from selfdrive.car.interfaces import CarInterfaceBase
@@ -39,33 +39,33 @@ class CarInterface(CarInterfaceBase):
if candidate == CAR.BRONCO_SPORT_MK1:
ret.wheelbase = 2.67
ret.steerRatio = 17.7
ret.mass = 1625 + STD_CARGO_KG
ret.mass = 1625
elif candidate == CAR.ESCAPE_MK4:
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.mass = 1750 + STD_CARGO_KG
ret.mass = 1750
elif candidate == CAR.EXPLORER_MK6:
ret.wheelbase = 3.025
ret.steerRatio = 16.8
ret.mass = 2050 + STD_CARGO_KG
ret.mass = 2050
elif candidate == CAR.F_150_MK14:
# required trim only on SuperCrew
ret.wheelbase = 3.69
ret.steerRatio = 17.0
ret.mass = 2000 + STD_CARGO_KG
ret.mass = 2000
elif candidate == CAR.FOCUS_MK4:
ret.wheelbase = 2.7
ret.steerRatio = 15.0
ret.mass = 1350 + STD_CARGO_KG
ret.mass = 1350
elif candidate == CAR.MAVERICK_MK1:
ret.wheelbase = 3.076
ret.steerRatio = 17.0
ret.mass = 1650 + STD_CARGO_KG
ret.mass = 1650
else:
raise ValueError(f"Unsupported car: {candidate}")
selfdrive/car/gm/interface.py
+14 -14
View File
@@ -4,7 +4,7 @@ from math import fabs, exp
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
@@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT:
ret.mass = 1607. + STD_CARGO_KG
ret.mass = 1607.
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
@@ -149,13 +149,13 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
ret.mass = 1496. + STD_CARGO_KG
ret.mass = 1496.
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
ret.mass = 1363.
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
@@ -163,7 +163,7 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4353. * CV.LB_TO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
@@ -171,27 +171,27 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712. + STD_CARGO_KG
ret.mass = 1712.
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601. + STD_CARGO_KG
ret.mass = 1601.
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG # (5552+5815)/2
ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
@@ -199,7 +199,7 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
ret.mass = 2739.
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
@@ -209,7 +209,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 1.0
elif candidate == CAR.BOLT_EUV:
ret.mass = 1669. + STD_CARGO_KG
ret.mass = 1669.
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
@@ -218,7 +218,7 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
ret.mass = 2450. + STD_CARGO_KG
ret.mass = 2450.
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
@@ -231,14 +231,14 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3500. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER:
ret.mass = 1345. + STD_CARGO_KG
ret.mass = 1345.
ret.wheelbase = 2.64
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
selfdrive/car/honda/interface.py
+18 -18
View File
@@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@@ -89,7 +89,7 @@ class CarInterface(CarInterfaceBase):
eps_modified = True
if candidate == CAR.CIVIC:
ret.mass = 1326. + STD_CARGO_KG
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
@@ -107,7 +107,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022):
ret.mass = 1326. + STD_CARGO_KG
ret.mass = 1326.
ret.wheelbase = 2.70
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
@@ -115,7 +115,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3279. * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 16.33 # 11.82 is spec end-to-end
@@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3095. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.37
ret.steerRatio = 18.61 # 15.3 is spec end-to-end
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU):
ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3572. * CV.LB_TO_KG
ret.wheelbase = 2.62
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.89 # as spec
@@ -147,7 +147,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G:
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3410. * CV.LB_TO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
@@ -164,7 +164,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID:
ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
ret.mass = 1667. # mean of 4 models in kg
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 16.0 # 12.3 is spec end-to-end
@@ -174,7 +174,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT:
ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 2644. * CV.LB_TO_KG
ret.wheelbase = 2.53
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 13.06
@@ -183,7 +183,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED:
ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3086. * CV.LB_TO_KG
ret.wheelbase = 2.74
# the remaining parameters were copied from FIT
ret.centerToFront = ret.wheelbase * 0.39
@@ -193,7 +193,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3125 * CV.LB_TO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
@@ -206,7 +206,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3935. * CV.LB_TO_KG
ret.wheelbase = 2.68
ret.centerToFront = ret.wheelbase * 0.38
ret.steerRatio = 15.0 # as spec
@@ -215,7 +215,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4068. * CV.LB_TO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 11.95 # as spec
@@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFactor = 0.677
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
ret.mass = 1900. + STD_CARGO_KG
ret.mass = 1900.
ret.wheelbase = 3.00
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 14.35 # as spec
@@ -236,7 +236,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT:
ret.mass = 4278. * CV.LB_TO_KG + STD_CARGO_KG # average weight
ret.mass = 4278. * CV.LB_TO_KG # average weight
ret.wheelbase = 2.86
ret.centerToFront = ret.wheelbase * 0.428
ret.steerRatio = 16.0 # as spec
@@ -245,7 +245,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE:
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4515. * CV.LB_TO_KG
ret.wheelbase = 3.18
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.59 # as spec
@@ -254,7 +254,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT:
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 2987. * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.centerToFront = ret.wheelbase * 0.39
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
@@ -263,7 +263,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3338.8 * CV.LB_TO_KG
ret.wheelbase = 2.5
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 16.71
selfdrive/car/hyundai/interface.py
+37 -37
View File
@@ -6,7 +6,7 @@ from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, get_safety_config
from selfdrive.car import create_button_event, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
@@ -62,180 +62,180 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3982. * CV.LB_TO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
ret.tireStiffnessFactor = 0.82
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.mass = 1513. + STD_CARGO_KG
ret.mass = 1513.
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.SONATA_LF:
ret.mass = 1536. + STD_CARGO_KG
ret.mass = 1536.
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.PALISADE:
ret.mass = 1999. + STD_CARGO_KG
ret.mass = 1999.
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
ret.tireStiffnessFactor = 0.63
elif candidate == CAR.ELANTRA:
ret.mass = 1275. + STD_CARGO_KG
ret.mass = 1275.
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.mass = 2800. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.mass = 3017. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.HYUNDAI_GENESIS:
ret.mass = 2060. + STD_CARGO_KG
ret.mass = 2060.
ret.wheelbase = 3.01
ret.steerRatio = 16.5
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
ret.tireStiffnessFactor = 0.385
if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
ret.mass = 2917. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 2917. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.TUCSON:
ret.mass = 3520. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3520. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15
ret.tireStiffnessFactor = 0.385
elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
ret.mass = 1630. + STD_CARGO_KG # average
ret.mass = 1630. # average
ret.wheelbase = 2.756
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.385
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim
ret.mass = 1870. # weight from Limited trim - the only supported trim
ret.wheelbase = 3.000
# steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
ret.steerRatio = 14.2
# Kia
elif candidate == CAR.KIA_SORENTO:
ret.mass = 1985. + STD_CARGO_KG
ret.mass = 1985.
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars
ret.mass = 3543. * CV.LB_TO_KG # average of all the cars
ret.wheelbase = 2.7
ret.steerRatio = 13.6 # average of all the cars
ret.tireStiffnessFactor = 0.385
if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
ret.mass = 1337. + STD_CARGO_KG
ret.mass = 1337.
ret.wheelbase = 2.63
ret.steerRatio = 14.56
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions
ret.mass = 1700. # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5
if candidate == CAR.KIA_OPTIMA_G4:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
ret.mass = 1825. + STD_CARGO_KG
ret.mass = 1825.
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
elif candidate == CAR.KIA_FORTE:
ret.mass = 2878. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 2878. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_CEED:
ret.mass = 1450. + STD_CARGO_KG
ret.mass = 1450.
ret.wheelbase = 2.65
ret.steerRatio = 13.75
ret.tireStiffnessFactor = 0.5
elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
ret.mass = 3381. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3381. * CV.LB_TO_KG
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
ret.tireStiffnessFactor = 0.5
elif candidate == CAR.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.mass = 2055
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.65
elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
ret.mass = 1948 + STD_CARGO_KG
ret.mass = 1948
ret.wheelbase = 2.97
ret.steerRatio = 14.26
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
ret.mass = 1767. # SX Prestige trim support only
ret.wheelbase = 2.756
ret.steerRatio = 13.6
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
ret.wheelbase = 2.81
ret.steerRatio = 13.5 # average of the platforms
if candidate == CAR.KIA_SORENTO_4TH_GEN:
ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3957 * CV.LB_TO_KG
else:
ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4537 * CV.LB_TO_KG
elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
ret.mass = 2087. + STD_CARGO_KG
ret.mass = 2087.
ret.wheelbase = 3.09
ret.steerRatio = 14.23
# Genesis
elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
ret.mass = 2205 + STD_CARGO_KG
ret.mass = 2205
ret.wheelbase = 2.9
# https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
ret.steerRatio = 12.6
elif candidate == CAR.GENESIS_G70:
ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG
ret.mass = 1640.0
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G70_2020:
ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3673.0 * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.steerRatio = 12.9
elif candidate == CAR.GENESIS_GV70_1ST_GEN:
ret.mass = 1950. + STD_CARGO_KG
ret.mass = 1950.
ret.wheelbase = 2.87
ret.steerRatio = 14.6
elif candidate == CAR.GENESIS_G80:
ret.mass = 2060. + STD_CARGO_KG
ret.mass = 2060.
ret.wheelbase = 3.01
ret.steerRatio = 16.5
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200. + STD_CARGO_KG
ret.mass = 2200.
ret.wheelbase = 3.15
ret.steerRatio = 12.069
elif candidate == CAR.GENESIS_GV80:
ret.mass = 2258. + STD_CARGO_KG
ret.mass = 2258.
ret.wheelbase = 2.95
ret.steerRatio = 14.14
selfdrive/car/interfaces.py
+5 -1
View File
@@ -9,7 +9,7 @@ from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.numpy_fast import clip
from common.realtime import DT_CTRL
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -99,6 +99,10 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
# Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
if not ret.notCar:
ret.mass = ret.mass + STD_CARGO_KG
# Set params dependent on values set by the car interface
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
selfdrive/car/mazda/interface.py
+5 -5
View File
@@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -25,19 +25,19 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.CX5, CAR.CX5_2022):
ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3655 * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.5
elif candidate in (CAR.CX9, CAR.CX9_2021):
ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4217 * CV.LB_TO_KG
ret.wheelbase = 3.1
ret.steerRatio = 17.6
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 2875 * CV.LB_TO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3443 * CV.LB_TO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
selfdrive/car/nissan/interface.py
+4 -4
View File
@@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.nissan.values import CAR
@@ -22,17 +22,17 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610 + STD_CARGO_KG
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610 + STD_CARGO_KG
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
ret.mass = 1492 + STD_CARGO_KG
ret.mass = 1492
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/subaru/interface.py
+9 -9
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
@@ -37,7 +37,7 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.ASCENT:
ret.mass = 2031. + STD_CARGO_KG
ret.mass = 2031.
ret.wheelbase = 2.89
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 13.5
@@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA:
ret.mass = 1568. + STD_CARGO_KG
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
@@ -59,7 +59,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
elif candidate == CAR.IMPREZA_2020:
ret.mass = 1480. + STD_CARGO_KG
ret.mass = 1480.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
@@ -69,7 +69,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
ret.mass = 1568. + STD_CARGO_KG
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
@@ -79,7 +79,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
ret.mass = 1568. + STD_CARGO_KG
ret.mass = 1568.
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17
@@ -87,20 +87,20 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal
ret.mass = 1568 + STD_CARGO_KG
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
elif candidate == CAR.LEGACY_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 12.5 # 14.5 stock
ret.steerActuatorDelay = 0.15
elif candidate == CAR.OUTBACK_PREGLOBAL:
ret.mass = 1568 + STD_CARGO_KG
ret.mass = 1568
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 20 # learned, 14 stock
selfdrive/car/tesla/interface.py
+2 -2
View File
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from selfdrive.car.tesla.values import CANBUS, CAR
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.25
if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
ret.mass = 2100. + STD_CARGO_KG
ret.mass = 2100.
ret.wheelbase = 2.959
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15.0
selfdrive/car/toyota/interface.py
+20 -20
View File
@@ -4,7 +4,7 @@ from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
EventName = car.CarEvent.EventName
@@ -49,7 +49,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3045. * CV.LB_TO_KG
# Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
@@ -61,20 +61,20 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.78
ret.steerRatio = 17.4
ret.tireStiffnessFactor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3340. * CV.LB_TO_KG
elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False
ret.wheelbase = 2.65
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
ret.tireStiffnessFactor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.mass = 3650. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70
ret.steerRatio = 18.27
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
stop_and_go = True
@@ -82,28 +82,28 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035
ret.tireStiffnessFactor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3300. * CV.LB_TO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
ret.tireStiffnessFactor = 0.8
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
# starting from 2019, all Avalon variants have stop and go
@@ -112,14 +112,14 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
ret.tireStiffnessFactor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
ret.tireStiffnessFactor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0]
@@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
ret.steerRatio = 13.9
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3060. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
@@ -148,53 +148,53 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.mass = 3677. * CV.LB_TO_KG # mean between min and max
elif candidate == CAR.SIENNA:
stop_and_go = True
ret.wheelbase = 3.03
ret.steerRatio = 15.5
ret.tireStiffnessFactor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4590. * CV.LB_TO_KG
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
ret.tireStiffnessFactor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3736.8 * CV.LB_TO_KG
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
ret.wheelbase = 2.60
ret.steerRatio = 18.6
ret.tireStiffnessFactor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
ret.mass = 3108 * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4070 * CV.LB_TO_KG
elif candidate == CAR.PRIUS_TSS2:
ret.wheelbase = 2.70002 # from toyota online sepc.
ret.steerRatio = 13.4 # True steerRatio from older prius
ret.tireStiffnessFactor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 3115. * CV.LB_TO_KG
elif candidate == CAR.MIRAI:
stop_and_go = True
ret.wheelbase = 2.91
ret.steerRatio = 14.8
ret.tireStiffnessFactor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4300. * CV.LB_TO_KG
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
ret.wheelbase = 3.00
ret.steerRatio = 14.2
ret.tireStiffnessFactor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
ret.mass = 4305. * CV.LB_TO_KG
ret.centerToFront = ret.wheelbase * 0.44
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
selfdrive/car/volkswagen/interface.py
+28 -28
View File
@@ -1,7 +1,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
@@ -101,32 +101,32 @@ class CarInterface(CarInterfaceBase):
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.mass = 1733
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.mass = 2011
ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100 + STD_CARGO_KG
ret.mass = 2100
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.mass = 1397
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.mass = 1328
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.mass = 1551
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503 + STD_CARGO_KG
ret.mass = 1503
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
@@ -134,86 +134,86 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG
ret.mass = 1230
ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639 + STD_CARGO_KG
ret.mass = 1639
ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.mass = 1498
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.mass = 1150
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.mass = 1715
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.mass = 1516
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.mass = 1926
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG
ret.mass = 1413
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.mass = 1335
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.mass = 1205
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG
ret.mass = 1623
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.mass = 1900
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.mass = 1227
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266 + STD_CARGO_KG
ret.mass = 1266
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.mass = 1265
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG
ret.mass = 1278
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.mass = 1569
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.mass = 1388
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.mass = 1192
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.mass = 1505
ret.wheelbase = 2.84
else: