HKG: Car Port for Kia Carnival 2023 (HDA1) (#27785)

* HKG: Car Port for Kia Carnival (China only) 2023 (HDA1) * add FW * seems to be radar SCC * Update CARS.md * Update CARS.md * Add test route * Fix docs * New route * Fix docs formatting * update with US model * 2 total * Update RELEASES.md * add FW for US carnival 2023 * fix docs * update test routes * no rlogs for chinese route * update docs * revert chinese to merge now * Apply suggestions from code review * fine to fully remove * less precise * remove from releases * Apply suggestions from code review * Update selfdrive/car/tests/routes.py --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
2026-02-18 21:14:01 +08:00 · 2023-07-06 00:37:49 -07:00
parent 0e73c2db99
commit f1c604bde7
6 changed files with 25 additions and 3 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -10,6 +10,7 @@ Version 0.9.4 (2023-XX-XX)
  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
  * Alerts are shown inside the border. Black/grey means info, orange means warning, and red means critical alert 
 * Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!

 Version 0.9.3 (2023-06-29)
 ========================
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@

 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.

-# 253 Supported Cars
+# 254 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -106,6 +106,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -202,6 +202,10 @@ class CarInterface(CarInterfaceBase):
        ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
      else:
        ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
+    elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
+      ret.mass = 2087. + STD_CARGO_KG
+      ret.wheelbase = 3.09
+      ret.steerRatio = 14.23

    # Genesis
    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -118,6 +118,7 @@ class CAR:
  KIA_STINGER_2022 = "KIA STINGER 2022"
  KIA_CEED = "KIA CEED INTRO ED 2019"
  KIA_EV6 = "KIA EV6 2022"
+  KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"

  # Genesis
  GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
@@ -241,6 +242,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
  ],
+  CAR.KIA_CARNIVAL_4TH_GEN: [
+    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    # HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+  ],

  # Genesis
  CAR.GENESIS_GV60_EV_1ST_GEN: [
@@ -1859,6 +1864,14 @@ FW_VERSIONS = {
      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
    ],
  },
+  CAR.KIA_CARNIVAL_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
+    ],
+  },
 }

 CHECKSUM = {
@@ -1873,10 +1886,10 @@ CAN_GEARS = {
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}

 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1947,4 +1960,5 @@ DBC = {
  CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
 }
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -98,6 +98,7 @@ routes = [
  CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
  CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
  CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
+  CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
  CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
  CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
  CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -47,6 +47,7 @@ KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
 KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
 KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
 GENESIS GV80 2023: [2.5, 2.5, 0.1]
+KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]