mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-02-25 21:03:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

GM: Chevy Bolt EV 2022-23 (#25430)

Browse Source 
* Chevy Bolt EV w ACC Port

* dashcam

* The website allows you to select the package without ACC

* fix Bolt E(U)V centerToFront

* Update selfdrive/car/gm/values.py

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Shuler
2022-09-15 23:11:53 -04:00
committed by GitHub
parent 64c2d4b30f
commit cfaa1b7d3e
4 changed files with 11 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
selfdrive/car/gm/interface.py
View File

@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
# 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.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV}
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
@@ -138,23 +138,23 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1601. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.49
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE_ESV:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739. + STD_CARGO_KG
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.49
ret.centerToFront = ret.wheelbase * 0.5
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
tire_stiffness_factor = 1.0
elif candidate == CAR.BOLT_EUV:
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
ret.minEnableSpeed = -1
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.675
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = 2.15 # measured
tire_stiffness_factor = 1.0

6
selfdrive/car/gm/values.py
View File

@@ -58,6 +58,7 @@ class CAR:
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
BOLT_EV = "CHEVROLET BOLT EV 2022"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
@@ -85,6 +86,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm),
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
@@ -176,9 +178,9 @@ FINGERPRINTS = {
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
STEER_THRESHOLD = 1.0

1
selfdrive/car/tests/routes.py
View File

@@ -22,6 +22,7 @@ non_tested_cars = [
GM.HOLDEN_ASTRA,
GM.MALIBU,
GM.EQUINOX,
GM.BOLT_EV,
HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H,

1
selfdrive/car/torque_data/override.yaml
View File

@@ -25,6 +25,7 @@ KIA EV6 2022: [3.5, 3.0, 0.0]
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]