8000 Refactor default Civic params by dek3rr · Pull Request #720 · commaai/openpilot · GitHub
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Refactor default Civic params #720

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Merged
merged 7 commits into from
Jul 8, 2019
Merged

Refactor default Civic params #720

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e5328b2
move civic params out
dek3rr Jul 1, 2019
d7e0f25
fix variable name
dek3rr Jul 1, 2019
6f02472
simplify ford scaling
dek3rr Jul 1, 2019
ea8d291
cleanup
dek3rr Jul 2, 2019
aa498a4
remove import dependency
dek3rr Jul 2, 2019
0206f71
requested changes
dek3rr Jul 2, 2019
44b8d0e
keep hyundai
dek3rr Jul 3, 2019
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28 changes: 28 additions & 0 deletions selfdrive/car/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,34 @@

# kg of standard extra cargo to count for drive, gas, etc...
STD_CARGO_KG = 136.

# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
class CivicParams:
MASS = 1326. + STD_CARGO_KG
WHEELBASE = 2.70
CENTER_TO_FRONT = WHEELBASE * 0.4
CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
ROTATIONAL_INERTIA = 2500
TIRE_STIFFNESS_FRONT = 192150
TIRE_STIFFNESS_REAR = 202500

# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
def scale_rot_inertia(mass, wheelbase):
return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
center_to_rear = wheelbase - center_to_front
tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
(center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)

tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \
(center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)

return tire_stiffness_front, tire_stiffness_rear

def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
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23 changes: 3 additions & 20 deletions selfdrive/car/chrysler/interface.py
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Expand Up @@ -6,7 +6,7 @@
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness


class CarInterface(object):
Expand Down Expand Up @@ -51,16 +51,6 @@ def get_params(candidate, fingerprint, vin=""):
# pedal
ret.enableCruise = True

# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400 * 2.0
tireStiffnessRear_civic = 90000 * 2.0

# Speed conversion: 20, 45 mph
ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
Expand All @@ -85,20 +75,13 @@ def get_params(candidate, fingerprint, vin=""):
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.

centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
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31 changes: 5 additions & 26 deletions selfdrive/car/ford/interface.py
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Expand Up @@ -7,7 +7,7 @@
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.ford.carstate import CarState, get_can_parser
from selfdrive.car.ford.values import MAX_ANGLE
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness


class CarInterface(object):
Expand Down Expand Up @@ -51,16 +51,6 @@ def get_params(candidate, fingerprint, vin=""):
# pedal
ret.enableCruise = True

# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000

ret.wheelbase = 2.85
ret.steerRatio = 14.8
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
Expand All @@ -69,32 +59,21 @@ def get_params(candidate, fingerprint, vin=""):
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerRateCost = 1.0

f = 1.2
tireStiffnessFront_civic *= f
tireStiffnessRear_civic *= f

ret.centerToFront = ret.wheelbase * 0.44

tire_stiffness_factor = 0.5328

# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1.

centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)

# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
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25 changes: 5 additions & 20 deletions selfdrive/car/gm/interface.py
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Expand Up @@ -7,7 +7,7 @@
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
SUPERCRUISE_CARS, AccState
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness


class CanBus(object):
Expand Down Expand Up @@ -60,6 +60,7 @@ def get_params(candidate, fingerprint, vin=""):
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet

if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
Expand Down Expand Up @@ -129,30 +130,14 @@ def get_params(candidate, fingerprint, vin=""):
ret.centerToFront = ret.wheelbase * 0.465


# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 85400
tireStiffnessRear_civic = 90000

centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)

# same tuning for Volt and CT6 for now
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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30 changes: 7 additions & 23 deletions selfdrive/car/honda/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING

A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
Expand Down Expand Up @@ -152,16 +152,6 @@ def get_params(candidate, fingerprint, vin=""):

ret.enableCruise = not ret.enableGasInterceptor

# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500

# Optimized car params: tire_stiffness_factor and steerRatio are a result of a vehicle
# model optimization process. Certain Hondas have an extra steering sensor at the bottom
# of the steering rack, which improves controls quality as it removes the steering column
Expand All @@ -174,9 +164,9 @@ def get_params(candidate, fingerprint, vin=""):

if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]:
stop_and_go = True
ret.mass = mass_civic
ret.wheelbase = wheelbase_civic
ret.centerToFront = centerToFront_civic
ret.mass = CivicParams.MASS
ret.wheelbase = CivicParams.WHEELBASE
ret.centerToFront = CivicParams.CENTER_TO_FRONT
ret.steerRatio = 14.63 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
Expand Down Expand Up @@ -334,20 +324,14 @@ def get_params(candidate, fingerprint, vin=""):
# conflict with PCM acc
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS

centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)

# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
Expand Down
27 changes: 5 additions & 22 deletions selfdrive/car/hyundai/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.hyundai.values import CAMERA_MSGS, CAR, get_hud_alerts, FEATURES
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness


class CarInterface(object):
Expand Down Expand Up @@ -51,19 +51,9 @@ def get_params(candidate, fingerprint, vin=""):
ret.safetyModel = car.CarParams.SafetyModel.hyundai
ret.enableCruise = True # stock acc

# FIXME: hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
tire_stiffness_factor = 1.

ret.steerActuatorDelay = 0.1 # Default delay
ret.steerRateCost = 0.5
tire_stiffness_factor = 1.

if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
Expand Down Expand Up @@ -129,21 +119,14 @@ def get_params(candidate, fingerprint, vin=""):

ret.centerToFront = ret.wheelbase * 0.4

centerToRear = ret.wheelbase - ret.centerToFront

# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)


# no rear steering, at least on the listed cars above
Expand Down
24 changes: 3 additions & 21 deletions selfdrive/car/subaru/interface.py
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Expand Up @@ -6,7 +6,7 @@
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.subaru.values import CAR
from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
from selfdrive.car import STD_CARGO_KG
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness


class CarInterface(object):
Expand Down Expand Up @@ -58,7 +58,6 @@ def get_params(candidate, fingerprint, vin=""):
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
tire_stiffness_factor = 1.0
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
Expand All @@ -84,30 +83,13 @@ def get_params(candidate, fingerprint, vin=""):

# end from gm

# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. * CV.LB_TO_KG + STD_CARGO_KG
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
centerToRear = ret.wheelbase - ret.centerToFront

# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

return ret

Expand Down
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