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Use EV gas lookup tables

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Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
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 882713b26e
commit fe8322fd5d
5 changed files with 40 additions and 5 deletions
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13
selfdrive/car/gm/carcontroller.py
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@@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
from openpilot.selfdrive.car.gm import gmcan
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,12 +51,14 @@ class CarController:
# FrogPilot variables
self.long_pitch = False
self.use_ev_tables = False
self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
self.accel_g = 0.0
def update_frogpilot_variables(self, params):
self.long_pitch = params.get_bool("LongPitch")
self.use_ev_tables = params.get_bool("EVTable")
@staticmethod
def calc_pedal_command(accel: float, long_active: bool) -> float:
@@ -141,8 +143,13 @@ class CarController:
else:
# Normal operation
brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.CP.carFingerprint in EV_CAR and self.use_ev_tables:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping: