diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b42f61f1b5..290d32852c 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV -from openpilot.common.numpy_fast import clip +from openpilot.common.numpy_fast import clip, interp from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker @@ -105,6 +105,14 @@ class CarController(CarControllerBase): self.custom_stock_planner_speed = self.param_s.get_bool("CustomStockLongPlanner") self.lead_distance = 0 + self.jerk = 0.0 + self.jerk_l = 0.0 + self.jerk_u = 0.0 + self.jerkStartLimit = 2.0 + self.cb_upper = 0.0 + self.cb_lower = 0.0 + self.jerk_count = 0.0 + def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float: lead_one = self.sm["radarState"].leadOne lead_two = self.sm["radarState"].leadTwo @@ -289,6 +297,8 @@ class CarController(CarControllerBase): self.last_button_frame = self.frame elif self.frame % 2 == 0: can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25) + else: + self.make_jerk(CS, accel, actuators) # Parse lead distance from radarState and display the corresponding distance in the car's cluster if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0: @@ -301,9 +311,9 @@ class CarController(CarControllerBase): # TODO: unclear if this is needed jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value - can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, jerk, int(self.frame / 2), + can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, self.jerk_l, self.jerk_u, int(self.frame / 2), hud_control, set_speed_in_units, stopping, - CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance)) + CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: @@ -479,3 +489,59 @@ class CarController(CarControllerBase): cruise_button = self.get_button_control(CS, self.final_speed_kph, v_cruise_kph_prev) # MPH/KPH based button presses return cruise_button + + def cal_jerk(self, accel, actuators): + if actuators.longControlState == LongCtrlState.off: + accel_diff = 0.0 + elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0: + accel_diff = 0.0 + else: + accel_diff = accel - self.accel_last + + accel_diff /= DT_CTRL + self.jerk = self.jerk * 0.9 + accel_diff * 0.1 + return self.jerk + + def make_jerk(self, CS, accel, actuators): + jerk = self.cal_jerk(accel, actuators) + a_error = accel - CS.out.aEgo + jerk = jerk + (a_error * 2.0) + + if self.CP.carFingerprint in CANFD_CAR: + startingJerk = 0.5 #self.jerkStartLimit + jerkLimit = 5.0 + self.jerk_count += DT_CTRL + jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit]) + if actuators.longControlState == LongCtrlState.off: + self.jerk_u = jerkLimit + self.jerk_l = jerkLimit + self.jerk_count = 0 + elif actuators.longControlState == LongCtrlState.stopping: + self.jerk_u += 0.1 if self.jerk_u < 1.5 else -0.1 + self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1 + self.jerk_count = 0 + else: + #self.jerk_u = min(max(2.5, jerk * 2.0), jerk_max) + #self.jerk_l = min(max(2.0, -jerk * 3.0), jerkLimit) + self.jerk_u = min(max(0.5, jerk * 2.0), jerk_max) + self.jerk_l = min(max(1.0, -jerk * 3.0), jerkLimit) + else: + startingJerk = self.jerkStartLimit + jerkLimit = 5.0 + self.jerk_count += DT_CTRL + jerk_max = interp(self.jerk_count, [0, 1.5, 2.5], [startingJerk, startingJerk, jerkLimit]) + self.cb_upper = self.cb_lower = 0 + if actuators.longControlState == LongCtrlState.off: + self.jerk_u = jerkLimit + self.jerk_l = jerkLimit + self.jerk_count = 0 + elif actuators.longControlState == LongCtrlState.stopping: + self.jerk_u += 0.1 if self.jerk_u < 0.5 else -0.1 + self.jerk_l += 0.1 if self.jerk_l < 1.0 else -0.1 + self.jerk_count = 0 + else: + self.jerk_u = self.jerk_u * 0.8 + min(max(0.5, jerk * 2.0), jerk_max) * 0.2 + self.jerk_l = self.jerk_l * 0.8 + min(max(0.5, -jerk * 2.0), jerkLimit) * 0.2 + #self.jerk_l = min(max(1.2, -jerk * 2.0), jerkLimit) ## 1.0으로 하니 덜감속, 1.5로하니 너무감속, 1.2로 한번해보자(231228) + self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2) + self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index a2f44716ef..f3776c46ef 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -130,8 +130,8 @@ def create_lfahda_mfc(packer, enabled, lat_active, lateral_paused, blinking_icon } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, - CS, escc, CP, lead_distance): +def create_acc_commands(packer, enabled, accel, lower_jerk, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, + CS, escc, CP, lead_distance, cb_lower, cb_upper): commands = [] scc11_values = { @@ -172,10 +172,10 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se commands.append(packer.make_can_msg("SCC12", 0, scc12_values)) scc14_values = { - "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values - "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values + "ComfortBandUpper": cb_upper, # stock usually is 0 but sometimes uses higher values + "ComfortBandLower": cb_lower, # stock usually is 0 but sometimes uses higher values "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values - "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values + "JerkLowerLimit": lower_jerk, # stock usually is 0.5 but sometimes uses higher values "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage "ObjGap": get_object_gap(lead_distance), # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead }