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Pedal interceptor longitudinal control

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 104932e207
commit 003f15fa87
9 changed files with 158 additions and 22 deletions
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27
selfdrive/car/gm/carstate.py
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@@ -9,6 +9,7 @@ from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRES
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
GearShifter = car.CarState.GearShifter
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
@@ -26,6 +27,8 @@ class CarState(CarStateBase):
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.single_pedal_mode = False
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
@@ -37,7 +40,8 @@ class CarState(CarStateBase):
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
moving_forward = pt_cp.vl["EBCMWheelSpdRear"]["MovingForward"] != 0
self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not moving_forward
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
@@ -80,10 +84,15 @@ class CarState(CarStateBase):
# Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct:
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
ret.gasPressed = ret.gas > threshold
if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
ret.gasPressed = ret.gas > threshold
else:
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
@@ -229,13 +238,21 @@ class CarState(CarStateBase):
]
if CP.transmissionType == TransmissionType.direct:
messages.append(("EBCMRegenPaddle", 50))
messages += [
("EBCMRegenPaddle", 50),
("EVDriveMode", 0),
]
if CP.carFingerprint in CC_ONLY_CAR:
messages += [
("ECMCruiseControl", 10),
]
if CP.enableGasInterceptor:
messages += [
("GAS_SENSOR", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
@staticmethod