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Vehicles - Toyota - Longitudinal Tune - Cydia

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Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-10 23:58:40 -07:00
parent 4cc1c2dbca
commit 3642711e70
4 changed files with 53 additions and 8 deletions
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43
selfdrive/car/toyota/carcontroller.py
View File

@ -10,6 +10,7 @@ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_
UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR
from opendbc.can.packer import CANPacker
LongCtrlState = car.CarControl.Actuators.LongControlState
SteerControlType = car.CarParams.SteerControlType
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -32,6 +33,12 @@ UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
PARK = car.CarState.GearShifter.park
# PCM compensatory force calculation threshold
# a variation in accel command is more pronounced at higher speeds, let compensatory forces ramp to zero before
# applying when speed is high
COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.] # m/s^2
COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.] # m/s
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
@ -41,6 +48,7 @@ class CarController(CarControllerBase):
self.last_angle = 0
self.alert_active = False
self.last_standstill = False
self.prohibit_neg_calculation = True
self.standstill_req = False
self.steer_rate_counter = 0
self.distance_button = 0
@ -52,6 +60,8 @@ class CarController(CarControllerBase):
# FrogPilot variables
params = Params()
self.cydia_tune = params.get_bool("CydiaTune")
self.doors_locked = False
self.doors_unlocked = True
@ -60,6 +70,7 @@ class CarController(CarControllerBase):
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
stopping = actuators.longControlState == LongCtrlState.stopping
# *** control msgs ***
can_sends = []
@ -138,10 +149,30 @@ class CarController(CarControllerBase):
interceptor_gas_cmd = 0.12 if CS.out.standstill else 0.
else:
interceptor_gas_cmd = 0.
if frogpilot_variables.sport_plus:
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX_PLUS)
# prohibit negative compensatory calculations when first activating long after accelerator depression or engagement
if not CC.longActive:
self.prohibit_neg_calculation = True
comp_thresh = interp(CS.out.vEgo, COMPENSATORY_CALCULATION_THRESHOLD_BP, COMPENSATORY_CALCULATION_THRESHOLD_V)
# don't reset until a reasonable compensatory value is reached
if CS.pcm_neutral_force > comp_thresh * self.CP.mass:
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:
accel_offset = CS.pcm_neutral_force / self.CP.mass
else:
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
accel_offset = 0.
# 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)
else:
pcm_accel_cmd = clip(actuators.accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
else:
pcm_accel_cmd = 0.
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
@ -164,6 +195,8 @@ class CarController(CarControllerBase):
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# when stopping, send -2.5 raw acceleration immediately to prevent vehicle from creeping, else send actuators.accel
accel_raw = -2.5 if stopping and self.cydia_tune else actuators.accel
# Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
@ -177,11 +210,11 @@ class CarController(CarControllerBase):
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, accel_raw, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
self.distance_button, frogpilot_variables))
self.accel = pcm_accel_cmd
else:
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button, frogpilot_variables))
can_sends.append(toyotacan.create_accel_command(self.packer, 0, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button, frogpilot_variables))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.

1
selfdrive/car/toyota/carstate.py
View File

@ -179,6 +179,7 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0

12
selfdrive/car/toyota/interface.py
View File

@ -144,7 +144,17 @@ class CarInterface(CarInterfaceBase):
tune = ret.longitudinalTuning
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor:
if params.get_bool("CydiaTune"):
# on stock Toyota this is -2.5
ret.stopAccel = -2.5
tune.deadzoneBP = [0., 16., 20., 30.]
tune.deadzoneV = [.04, .05, .08, .15]
ret.stoppingDecelRate = 0.17
tune.kpBP = [0., 5.]
tune.kpV = [0.8, 1.]
tune.kiBP = [0., 5.]
tune.kiV = [0.3, 1.]
elif candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.]

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

@ -33,10 +33,10 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance, frogpilot_variables):
def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance, frogpilot_variables):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
"ACCEL_CMD": accel, # compensated accel command
"ACC_TYPE": acc_type,
"DISTANCE": distance,
"MINI_CAR": lead,
@ -45,6 +45,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 2 if frogpilot_variables.reverse_cruise_increase else 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
"ACCEL_CMD_ALT": accel_raw, # raw accel command, pcm uses this to calculate a compensatory force
}
return packer.make_can_msg("ACC_CONTROL", 0, values)