zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

OPGM - QOL tweaks - lower Volt enable speed - EV gas/brake lookup tables

Browse Source 
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-29 02:53:03 -07:00
parent 6101fd0eb2
commit f1a2a6474c
3 changed files with 21 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/car/gm/carcontroller.py
View File

@ -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, SDGM_CAR, EV_CAR
from openpilot.selfdrive.car.interfaces import CarControllerBase
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -122,6 +122,11 @@ class CarController(CarControllerBase):
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
else:
# Normal operation
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping

1
selfdrive/car/gm/interface.py
View File

@ -171,6 +171,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
ret.minEnableSpeed = -1.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm

12
selfdrive/car/gm/values.py
View File

@ -2,6 +2,7 @@ from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -67,6 +68,17 @@ class CarControllerParams:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
# determined by letting Volt regen to a stop in L gear from 89mph,
# and by letting off gas and allowing car to creep, for determining
# the positive threshold values at very low speed
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
def update_ev_gas_brake_threshold(self, v_ego):
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
class Footnote(Enum):
OBD_II = CarFootnote(