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Vehicles - Toyota - Longitudinal Tune - FrogPilot

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FrogAi 2024-05-11 00:03:27 -07:00
parent 5758d7045d
commit 0ceefc8ace
3 changed files with 66 additions and 4 deletions
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46
selfdrive/car/toyota/carcontroller.py
View File

@ -7,7 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.toyota import toyotacan
from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR
UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR, TSS2_CAR
from opendbc.can.packer import CANPacker
LongCtrlState = car.CarControl.Actuators.LongControlState
@ -39,6 +39,17 @@ PARK = car.CarState.GearShifter.park
COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.] # m/s^2
COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.] # m/s
def compute_gb_toyota(accel, speed):
creep_brake = 0.0
creep_speed = 2.3
creep_brake_value = 0.15
if speed < creep_speed:
creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
gb = accel - creep_brake
return gb
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@ -61,6 +72,9 @@ class CarController(CarControllerBase):
params = Params()
self.cydia_tune = params.get_bool("CydiaTune")
self.frogs_go_moo_tune = params.get_bool("FrogsGoMooTune")
self.pcm_accel_comp = 0
self.doors_locked = False
self.doors_unlocked = True
@ -160,7 +174,7 @@ class CarController(CarControllerBase):
self.prohibit_neg_calculation = False
# limit minimum to only positive until first positive is reached after engagement, don't calculate when long isn't active
if CC.longActive and not self.prohibit_neg_calculation and self.cydia_tune:
if CC.longActive and not self.prohibit_neg_calculation and (self.cydia_tune or self.frogs_go_moo_tune and self.CP.carFingerprint not in TSS2_CAR):
accel_offset = CS.pcm_neutral_force / self.CP.mass
else:
accel_offset = 0.
@ -168,9 +182,33 @@ class CarController(CarControllerBase):
# only calculate pcm_accel_cmd when long is active to prevent disengagement from accelerator depression
if CC.longActive:
if frogpilot_variables.sport_plus:
pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
if self.frogs_go_moo_tune:
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
gas_accel = compute_gb_toyota(actuators.accel, CS.out.vEgo) + wind_brake
self.pcm_accel_comp = clip(gas_accel - CS.pcm_accel_net, self.pcm_accel_comp - 0.03, self.pcm_accel_comp + 0.03)
pcm_accel_cmd = gas_accel + self.pcm_accel_comp
if not CC.longActive:
pcm_accel_cmd = 0.0
pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
else:
pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
else:
pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
if self.frogs_go_moo_tune:
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
gas_accel = compute_gb_toyota(actuators.accel, CS.out.vEgo) + wind_brake
self.pcm_accel_comp = clip(gas_accel - CS.pcm_accel_net, self.pcm_accel_comp - 0.03, self.pcm_accel_comp + 0.03)
pcm_accel_cmd = gas_accel + self.pcm_accel_comp
if not CC.longActive:
pcm_accel_cmd = 0.0
pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
else:
pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
else:
pcm_accel_cmd = 0.

5
selfdrive/car/toyota/carstate.py
View File

@ -55,6 +55,8 @@ class CarState(CarStateBase):
self.zss_compute = False
self.zss_cruise_active_last = False
self.pcm_accel_net = 0
self.pcm_neutral_force = 0
self.zss_angle_offset = 0
self.zss_threshold_count = 0
@ -222,6 +224,9 @@ class CarState(CarStateBase):
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
self.lkas_enabled = any(self.lkas_hud.get(key) == 1 for key in message_keys)
self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"]
self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
# ZSS Support - Credit goes to the DragonPilot team!
if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT:
zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]

19
selfdrive/car/toyota/interface.py
View File

@ -154,6 +154,25 @@ class CarInterface(CarInterfaceBase):
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif params.get_bool("FrogsGoMooTune"):
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [0., .03, .06, .15]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
# In MPH = [ 0, 27, 45, 60, 89]
tune.kiBP = [ 0., 12., 20., 27., 40.]
tune.kiV = [.35, .215, .195, .10, .01]
if candidate in TSS2_CAR:
ret.stopAccel = -0.4 # Toyota requests -0.4 when stopped
else:
ret.stopAccel = -2.5 # on stock Toyota this is -2.5
ret.stoppingDecelRate = 0.17
ret.vEgoStopping = 0.15 # car is near 0.1 to 0.2 when car starts requesting stopping accel
ret.vEgoStarting = 0.15 # needs to be > or == vEgoStopping
elif (candidate in TSS2_CAR or ret.enableGasInterceptor) and params.get_bool("DragonPilotTune"):
# Credit goes to the DragonPilot team!
tune.deadzoneBP = [0., 16., 20., 30.]