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Ford: check second speed for mismatches (#1358) 

* Add second speed

* 2.5 m/s is 9 kph, 4 kph is the max in the field

* add quality signal

* qf signal name

* comment

* checksum matches except it goes to zero when turning the car off despite counter still active

* update comments

* now test it

* spacing

* Update board/safety/safety_ford.h

* zzzz

* not needed

* whoops

* test vehicle state mismatch

* add to safety_helpers

* probably misra

* we might want to check it in both speed signals in case one doesn't exist on a car

* Revert "we might want to check it in both speed signals in case one doesn't exist on a car"

This reverts commit 3338931409.

* fix formatting

* 2 m/s (7 kph)

* set controls_allowed directly like other safety models

remove vehicle_state_mismatch

* obv
This commit is contained in:
Shane Smiskol 2023-04-26 22:37:36 -07:00 committed by GitHub
parent 5c21b14049
commit f444f1554f
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2 changed files with 25 additions and 0 deletions
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10
board/safety/safety_ford.h
View File

@ -123,6 +123,7 @@ static bool ford_get_quality_flag_valid(CANPacket_t *to_push) {
#define INACTIVE_CURVATURE_RATE 4096U
#define INACTIVE_PATH_OFFSET 512U
#define INACTIVE_PATH_ANGLE 1000U
#define FORD_MAX_SPEED_DELTA 2.0 // m/s
static bool ford_lkas_msg_check(int addr) {
return (addr == MSG_ACCDATA_3)
@ -150,6 +151,15 @@ static int ford_rx_hook(CANPacket_t *to_push) {
vehicle_speed = ((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6;
}
if (addr == MSG_EngVehicleSpThrottle2) {
// Disable controls if speeds from ABS and PCM ECUs are too far apart.
// Signal: Veh_V_ActlEng
float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6;
if (ABS(filtered_pcm_speed - vehicle_speed) > FORD_MAX_SPEED_DELTA) {
controls_allowed = 0;
}
}
// Update gas pedal
if (addr == MSG_EngVehicleSpThrottle) {
// Pedal position: (0.1 * val) in percent

15
tests/safety/test_ford.py
View File

@ -68,6 +68,8 @@ class TestFordSafety(common.PandaSafetyTest):
FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, MSG_IPMA_Data]}
FWD_BUS_LOOKUP = {0: 2, 2: 0}
MAX_SPEED_DELTA = 2.0 # m/s
cnt_speed = 0
cnt_speed_2 = 0
cnt_yaw_rate = 0
@ -179,6 +181,19 @@ class TestFordSafety(common.PandaSafetyTest):
self.assertFalse(self._rx(to_push))
self.assertFalse(self.safety.get_controls_allowed())
def test_rx_hook_speed_mismatch(self):
# Ford relies on speed for driver curvature limiting, so it checks two sources
for speed in np.arange(0, 40, 1):
for speed_delta in np.arange(-5, 5, 0.1):
speed_2 = round(max(speed + speed_delta, 0), 1)
# Set controls allowed in between rx since first message can reset it
self._rx(self._speed_msg(speed))
self.safety.set_controls_allowed(True)
self._rx(self._speed_msg_2(speed_2))
within_delta = abs(speed - speed_2) <= self.MAX_SPEED_DELTA
self.assertEqual(self.safety.get_controls_allowed(), within_delta)
def test_steer_allowed(self):
path_offsets = np.arange(-5.12, 5.11, 1).round()
path_angles = np.arange(-0.5, 0.5235, 0.1).round(1)