From 353e85cc9e53598bac6ffc49ef3d748c1e923219 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Tue, 11 Jun 2024 07:36:26 -0700 Subject: [PATCH] OPGM - QOL tweaks - lower Volt enable speed - EV gas/brake lookup tables Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com> --- selfdrive/car/gm/carcontroller.py | 11 ++++++++--- selfdrive/car/gm/values.py | 14 +++++++++++++- 2 files changed, 21 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 3f1250359..9ece11b05 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -6,7 +6,7 @@ from openpilot.common.params_pyx import Params from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command from openpilot.selfdrive.car.gm import gmcan -from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR from openpilot.selfdrive.car.interfaces import CarControllerBase VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -120,8 +120,13 @@ class CarController(CarControllerBase): self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE)) else: # Normal operation - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + if self.CP.carFingerprint in EV_CAR: + self.params.update_ev_gas_brake_threshold(CS.out.vEgo) + self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + else: + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index dd30dce1e..c6f8327ef 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -2,6 +2,7 @@ from dataclasses import dataclass, field from enum import IntFlag from cereal import car +from openpilot.common.numpy_fast import interp from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -67,6 +68,17 @@ class CarControllerParams: self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration] self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] + # determined by letting Volt regen to a stop in L gear from 89mph, + # and by letting off gas and allowing car to creep, for determining + # the positive threshold values at very low speed + EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s] + EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s] + + def update_ev_gas_brake_threshold(self, v_ego): + gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V) + self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX] + self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold] + @dataclass class GMCarDocs(CarDocs): @@ -103,7 +115,7 @@ class CAR(Platforms): ) CHEVROLET_VOLT = GMASCMPlatformConfig( [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")], - GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), + GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1), dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis') ) CADILLAC_ATS = GMASCMPlatformConfig(