mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 20:03:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

Car interface: set tire stiffness in common function (#26625)

Browse Source 
* common stiffness

* GM uses factors
This commit is contained in:
Shane Smiskol
2022-11-29 12:50:27 -08:00
committed by GitHub
parent 3a4f19f0ee
commit 712b9014d7
9 changed files with 19 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
selfdrive/car/body/interface.py
View File

@@ -2,7 +2,7 @@
import math
from cereal import car
from common.realtime import DT_CTRL
from selfdrive.car import scale_tire_stiffness, get_safety_config
from selfdrive.car import get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.body.values import SPEED_FROM_RPM
@@ -28,8 +28,6 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def _update(self, c):

7
selfdrive/car/chrysler/interface.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
from selfdrive.car.interfaces import CarInterfaceBase
@@ -72,11 +72,6 @@ class CarInterface(CarInterfaceBase):
raise ValueError(f"Unsupported car: {candidate}")
ret.centerToFront = ret.wheelbase * 0.44
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableBsm = 720 in fingerprint[0]
return ret

3
selfdrive/car/ford/interface.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
from selfdrive.car.interfaces import CarInterfaceBase
@@ -55,7 +55,6 @@ class CarInterface(CarInterfaceBase):
ret.autoResumeSng = ret.minEnableSpeed == -1.
ret.centerToFront = ret.wheelbase * 0.44
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def _update(self, c):

8
selfdrive/car/interfaces.py
View File

@@ -10,7 +10,7 @@ from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.numpy_fast import interp
from common.realtime import DT_CTRL
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -103,6 +103,12 @@ class CarInterfaceBase(ABC):
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
# TODO: some car interfaces set stiffness factor
if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
@staticmethod

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

@@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.nissan.values import CAR
@@ -18,6 +18,9 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610 + STD_CARGO_KG
ret.wheelbase = 2.705
@@ -33,13 +36,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
# returns a car.CarState

6
selfdrive/car/subaru/interface.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
@@ -101,10 +101,6 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"unknown car: {candidate}")
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
# returns a car.CarState

4
selfdrive/car/tesla/interface.py
View File

@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from selfdrive.car.tesla.values import CANBUS, CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -50,8 +50,6 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError(f"Unsupported car: {candidate}")
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
def _update(self, c):

2
selfdrive/car/tests/test_car_interfaces.py
View File

@@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase):
assert car_interface
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.wheelbase, 0)
self.assertGreater(car_params.centerToFront, 0)
self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:

3
selfdrive/car/volkswagen/interface.py
View File

@@ -1,7 +1,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
@@ -211,7 +211,6 @@ class CarInterface(CarInterfaceBase):
ret.autoResumeSng = ret.minEnableSpeed == -1
ret.centerToFront = ret.wheelbase * 0.45
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
return ret
# returns a car.CarState