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Toyota: Improve comma pedal Stop-and-Go

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 075e81ce44
commit 6fe645e21c
4 changed files with 23 additions and 19 deletions
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16
selfdrive/car/toyota/interface.py
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@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from panda import Panda
from panda.python import uds
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, STOP_AND_GO_CAR
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.disable_ecu import disable_ecu
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -56,7 +56,6 @@ class CarInterface(CarInterfaceBase):
ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
if candidate == CAR.PRIUS:
stop_and_go = True
ret.wheelbase = 2.70
ret.steerRatio = 15.74 # unknown end-to-end spec
ret.tireStiffnessFactor = 0.6371 # hand-tune
@@ -68,14 +67,12 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
elif candidate == CAR.PRIUS_V:
stop_and_go = True
ret.wheelbase = 2.78
ret.steerRatio = 17.4
ret.tireStiffnessFactor = 0.5533
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
@@ -88,7 +85,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
ret.wheelSpeedFactor = 1.035
@@ -96,14 +92,12 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
elif candidate in (CAR.CHR, CAR.CHR_TSS2):
stop_and_go = True
ret.wheelbase = 2.63906
ret.steerRatio = 13.6
ret.tireStiffnessFactor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG
elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
stop_and_go = True
ret.wheelbase = 2.82448
ret.steerRatio = 13.7
ret.tireStiffnessFactor = 0.7933
@@ -111,7 +105,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
ret.tireStiffnessFactor = 0.8
@@ -120,7 +113,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
# starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON
ret.wheelbase = 2.82
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
ret.tireStiffnessFactor = 0.7983
@@ -160,7 +152,6 @@ class CarInterface(CarInterfaceBase):
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
@@ -179,14 +170,12 @@ class CarInterface(CarInterfaceBase):
ret.mass = 4034. * 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 # mean between min and max
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
stop_and_go = True
ret.wheelbase = 2.66
ret.steerRatio = 14.7
ret.tireStiffnessFactor = 0.444 # not optimized yet
@@ -205,7 +194,6 @@ class CarInterface(CarInterfaceBase):
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
@@ -271,7 +259,7 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED
tune = ret.longitudinalTuning
tune.deadzoneBP = [0., 9.]