Adds 2019 Lexus ES (non hybrid) (#866)

* Adds 2019 Lexus ES (non hybrid) * Updated test route
2026-02-19 07:43:57 +08:00 · 2019-10-30 13:38:10 -04:00
parent 98d2907a35
commit affe1c3d2c
4 changed files with 16 additions and 5 deletions
--- a/README.md
+++ b/README.md
@@ -94,6 +94,7 @@ Supported Cars
 | Kia                  | Sorento 2018               | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018               | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Lexus                | CT Hybrid 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
+| Lexus                | ES 2019                    | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | ES Hybrid 2019             | All                  | Yes     | Yes            | 0mph             | 0mph           | Toyota            |
 | Lexus                | RX Hybrid 2016-19          | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Lexus                | IS 2017-2019               | All                  | Yes     | Stock          | 22mph            | 0mph           | Toyota            |
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -186,7 +186,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
      ret.lateralTuning.pid.kf = 0.00007818594

-    elif candidate == CAR.LEXUS_ESH_TSS2:
+    elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
      stop_and_go = True
      ret.safetyParam = 73
      ret.wheelbase = 2.8702
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -16,6 +16,7 @@ class CAR:
  RAV4_TSS2 = "TOYOTA RAV4 2019"
  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
  COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
+  LEXUS_ES_TSS2 = "LEXUS ES 2019"
  LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
  SIENNA = "TOYOTA SIENNA XLE 2018"
  LEXUS_IS = "LEXUS IS300 2018"
@@ -188,6 +189,10 @@ FINGERPRINTS = {
    {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
  }],
+  CAR.LEXUS_ES_TSS2: [
+  {
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8
+  }],
  CAR.LEXUS_ESH_TSS2: [
  {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 744: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -232,13 +237,13 @@ DBC = {
  CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
  CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
  CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
  CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
 }

-NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2]
-TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
-
+NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]
+TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
--- a/selfdrive/test/test_car_models.py
+++ b/selfdrive/test/test_car_models.py
@@ -281,6 +281,11 @@ routes = {
    'enableCamera': True,
    'enableDsu': True,
  },
+  "e6a24be49a6cd46e|2019-10-29--10-52-42": {
+    'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
+    'enableCamera': True,
+    'enableDsu': True,
+  },
  "f49e8041283f2939|2019-05-29--13-48-33": {
    'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
    'enableCamera': False,