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CC 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 763ee059d4
commit 062c1a3094
7 changed files with 116 additions and 20 deletions
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25
selfdrive/car/gm/interface.py
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@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [0.]
if candidate in CAMERA_ACC_CAR:
ret.experimentalLongitudinalAvailable = True
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
@@ -311,6 +311,26 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.7
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.CC_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.openpilotLongitudinalControl = True
ret.pcmCruise = False
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.56] # == 2 km/h/s, 1.25 mph/s
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
ret.longitudinalActuatorDelayLowerBound = 1. # TODO: measure this
ret.longitudinalActuatorDelayUpperBound = 2.
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
ret.longitudinalTuning.kpV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.1]
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
@@ -350,6 +370,9 @@ class CarInterface(CarInterfaceBase):
if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
events.add(EventName.speedTooLow)
ret.events = events.to_msg()
return ret