#!/usr/bin/env python3
import os
from cereal import car
from math import fabs, exp
from panda import Panda
from openpilot.common.basedir import BASEDIR
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
}
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
[docs]
class CarInterface(CarInterfaceBase):
[docs]
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
[docs]
@staticmethod
def get_steer_feedforward_volt(desired_angle, v_ego):
desired_angle *= 0.02904609
sigmoid = desired_angle / (1 + fabs(desired_angle))
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
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def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
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def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
def sig(val):
return 1 / (1 + exp(-val)) - 0.5
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
# This has big effect on the stability about 0 (noise when going straight)
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
assert non_linear_torque_params, "The params are not defined"
a, b, c, _ = non_linear_torque_params
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
return float(steer_torque) + friction
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def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
inputs = list(latcontrol_inputs)
if gravity_adjusted:
inputs[0] += inputs[1]
return float(self.neural_ff_model.predict(inputs)) + friction
[docs]
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
return self.torque_from_lateral_accel_neural
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
return self.torque_from_lateral_accel_siglin
else:
return self.torque_from_lateral_accel_linear
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.automatic
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.15]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kiBP = [0.]
if candidate in CAMERA_ACC_CAR:
ret.experimentalLongitudinalAvailable = True
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
# Tuning for experimental long
ret.longitudinalTuning.kpV = [2.0, 1.5]
ret.longitudinalTuning.kiV = [0.72]
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
if experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiV = [0.36]
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
if candidate == CAR.CADILLAC_ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
else:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_BOLT_EUV:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_EQUINOX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
return ret
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents):
events.add(EventName.buttonEnable)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret