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Honda: HR-V 2023 port (#27731)
* initial commit * HR-V is diff enought to split from Civic22 * Add US HR-V 2023 * update CARS.md * Update RELEASES.md * Use a alternative brake signal * US HR-V have a weird noise in the BrakeSwitch * Shane tunning * this is added automatically * sorry jyoung * civic22_stop_faster limit stopAccel to current safety model * relax calib temporarily (12 deg) relax calib temporarily (10 deg) * compute accel (car overshoots requests at low speed) * revert brake pressed caused controls mismatches * fix crash * cause a cruise fault * Revert "cause a cruise fault" This reverts commit 09a6469ac6fc38ebd38dd1c5d464712a15d0fde1. * no brake error * use alt brake * Update selfdrive/car/honda/carcontroller.py * change HONDA_BOSCH_ALT_BRAKE_SIGNAL to CP.flags * Revert "change HONDA_BOSCH_ALT_BRAKE_SIGNAL to CP.flags" This reverts commit e0f8123b33db3218f27c4b64a7b2a0b1f740860f. * remove FPv2 from brazilian HR-V * bump panda * fix a bug * revert calib threshold * new test route * separate pr * update * update that * thought i removed this * revert steer ratio --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
AlexandreSato
@@ -4,6 +4,7 @@ Version 0.9.2 (2023-03-XX)
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* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
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* Buick LaCrosse 2017-19 support thanks to koch-cf!
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* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
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* Honda HR-V 2023 support thanks to AlexandreSato!
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* Kia Niro EV 2023 support thanks to JosselinLecocq!
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* Lexus ES 2017-18 support
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* Škoda Fabia 2022-23 support thanks to jyoung8607!
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@@ -4,7 +4,7 @@
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A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
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# 243 Supported Cars
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# 244 Supported Cars
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|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
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|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
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@@ -55,6 +55,7 @@ A supported vehicle is one that just works when you install a comma three. All s
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|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
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|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
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|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
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|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
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|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
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|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
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|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[](##)|[](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
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2
panda
2
panda
Submodule panda updated: 0117ff9d13...ada8b49cb5
@@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
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else:
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checks.append(("CRUISE_PARAMS", 50))
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
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signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
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elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
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signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
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@@ -179,7 +179,7 @@ class CarState(CarStateBase):
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# panda checks if the signal is non-zero
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ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
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# TODO: find a common signal across all cars
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
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elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
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ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
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@@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase):
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tire_stiffness_factor = 0.75
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
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elif candidate == CAR.HRV:
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elif candidate in (CAR.HRV, CAR.HRV_3G):
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ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.61
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 15.2
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.wheelSpeedFactor = 1.025
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if candidate == CAR.HRV:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.wheelSpeedFactor = 1.025
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
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elif candidate == CAR.ACURA_RDX:
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ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
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@@ -87,6 +87,7 @@ class CAR:
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FIT = "HONDA FIT 2018"
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FREED = "HONDA FREED 2020"
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HRV = "HONDA HRV 2019"
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HRV_3G = "HONDA HR-V 2023"
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ODYSSEY = "HONDA ODYSSEY 2018"
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ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
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ACURA_RDX = "ACURA RDX 2018"
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@@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
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CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
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CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
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CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
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CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
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CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
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CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
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CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
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@@ -1419,6 +1421,32 @@ FW_VERSIONS = {
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b'78109-THW-A110\x00\x00',
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],
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},
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CAR.HRV_3G: {
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(Ecu.eps, 0x18DA30F1, None): [
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b'39990-3W0-A030\x00\x00',
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],
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(Ecu.gateway, 0x18DAEFF1, None): [
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b'38897-3W1-A010\x00\x00',
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],
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(Ecu.srs, 0x18DA53F1, None): [
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b'77959-3V0-A820\x00\x00',
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],
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(Ecu.combinationMeter, 0x18DA60F1, None): [
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b'78108-3V1-A220\x00\x00',
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],
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(Ecu.vsa, 0x18DA28F1, None): [
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b'57114-3W0-A040\x00\x00',
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],
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(Ecu.transmission, 0x18DA1EF1, None): [
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b'28101-6EH-A010\x00\x00',
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],
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(Ecu.programmedFuelInjection, 0x18DA10F1, None): [
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b'37805-6CT-A710\x00\x00',
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],
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(Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
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b'46114-3W0-A020\x00\x00',
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],
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},
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CAR.ACURA_ILX: {
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(Ecu.gateway, 0x18daeff1, None): [
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b'38897-TX6-A010\x00\x00',
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@@ -1537,6 +1565,7 @@ DBC = {
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CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
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CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
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CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
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CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
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CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
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@@ -1556,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
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HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
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CAR.PILOT, CAR.RIDGELINE}
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HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
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CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
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HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
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HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
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CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
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HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
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HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
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@@ -69,6 +69,7 @@ routes = [
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CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
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CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
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CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
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CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G),
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CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
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CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
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CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T
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@@ -52,3 +52,4 @@ mock: [10.0, 10, 0.0]
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# Manually checked
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HONDA CIVIC 2022: [2.5, 1.2, 0.15]
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HONDA HR-V 2023: [2.5, 1.2, 0.2]
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