FrogPilot community - Toyota: Improve comma pedal Stop-and-Go
Co-Authored-By: Irene <12470297+cydia2020@users.noreply.github.com>
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FrogAi
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19cf926c35
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@ -7,7 +7,7 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.toyota import toyotacan
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from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
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MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
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UNSUPPORTED_DSU_CAR
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UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR
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from opendbc.can.packer import CANPacker
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SteerControlType = car.CarParams.SteerControlType
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@ -105,12 +105,12 @@ class CarController(CarControllerBase):
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lta_active, self.frame // 2, torque_wind_down))
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# *** gas and brake ***
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if self.CP.enableGasInterceptor and CC.longActive:
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if self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint not in STOP_AND_GO_CAR:
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MAX_INTERCEPTOR_GAS = 0.5
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# RAV4 has very sensitive gas pedal
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if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
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if self.CP.carFingerprint == CAR.RAV4:
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PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
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elif self.CP.carFingerprint in (CAR.COROLLA,):
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elif self.CP.carFingerprint == CAR.COROLLA:
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PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
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else:
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PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
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@ -118,6 +118,8 @@ class CarController(CarControllerBase):
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pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
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pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
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interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
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elif self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint in STOP_AND_GO_CAR and actuators.accel > 0.0:
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interceptor_gas_cmd = 0.12 if CS.out.standstill else 0.
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else:
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interceptor_gas_cmd = 0.
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pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
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@ -2,7 +2,7 @@ from cereal import car, custom
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from panda import Panda
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from panda.python import uds
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from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
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MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
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MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, STOP_AND_GO_CAR
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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@ -46,8 +46,6 @@ class CarInterface(CarInterfaceBase):
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ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
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stop_and_go = candidate in TSS2_CAR
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# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
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# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
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if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
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@ -67,7 +65,6 @@ class CarInterface(CarInterfaceBase):
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and not (ret.flags & ToyotaFlags.SMART_DSU)
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if candidate == CAR.PRIUS:
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stop_and_go = True
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# Only give steer angle deadzone to for bad angle sensor prius
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for fw in car_fw:
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if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
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@ -75,14 +72,8 @@ class CarInterface(CarInterfaceBase):
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
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elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
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stop_and_go = True
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ret.wheelSpeedFactor = 1.035
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elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
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# starting from 2019, all Avalon variants have stop and go
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# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
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stop_and_go = candidate != CAR.AVALON
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elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kiBP = [0.0]
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@ -100,15 +91,6 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kf = 0.00004
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break
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elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
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# TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
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stop_and_go = True
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# TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
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# For now, don't list stop and go functionality in the docs
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if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
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stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
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ret.centerToFront = ret.wheelbase * 0.44
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# TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
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@ -153,7 +135,7 @@ class CarInterface(CarInterfaceBase):
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
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ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED
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tune = ret.longitudinalTuning
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tune.deadzoneBP = [0., 9.]
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@ -612,4 +612,7 @@ ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
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# no resume button press required
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NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
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STOP_AND_GO_CAR = TSS2_CAR | {CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.LEXUS_RX, CAR.CHR, CAR.CAMRY, CAR.HIGHLANDER,
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CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX, CAR.MIRAI, CAR.AVALON_2019}
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DBC = CAR.create_dbc_map()
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