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Refactor default Civic params #720

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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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30 changes: 29 additions & 1 deletion selfdrive/car/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,36 @@
# functions common among cars
from common.numpy_fast import clip

from selfdrive.config import Conversions as CV
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can we remove this import? Just so we avoid risk of mutual imports (int.py should be very little dependent on other files)

# 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 = 2923. * CV.LB_TO_KG + 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):
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tire_stiffness_factor should default to 1, as it's not always necessary (see chrysler)

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so the gm, chrysler, and hyundai? seemed odd to me at the time

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well,

  • chrysler we can use the default 1 (close enough to 0.888),
  • hyundai is 1, so also we can use the default.
  • for gm we should keep 0.444

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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27 changes: 7 additions & 20 deletions selfdrive/car/chrysler/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.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 @@ -70,11 +60,13 @@ def get_params(candidate, fingerprint, vin=""):
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
tire_stiffness_factor = 0.444 # not optimized yet
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@rbiasini rbiasini Jul 2, 2019 •
edited
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seems like this is an unnecessary addition and change?
Should be 0.888, but we can remove it per my comment above and assume it's 1 (param learner algorithm is quite quick and good.)


if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
tire_stiffness_factor = 0.444 # not optimized yet

ret.centerToFront = ret.wheelbase * 0.44

Expand All @@ -85,20 +77,15 @@ 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(mass=ret.mass, wheelbase=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(mass=ret.mass, wheelbase=ret.wheelbase,
center_to_front=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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32 changes: 6 additions & 26 deletions selfdrive/car/ford/interface.py
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Original file line number Diff line number Diff line change
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 +59,22 @@ 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 = 0.444 # not optimized
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@rbiasini rbiasini Jul 2, 2019 •
edited
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this should be 0.53, right?

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yeah 20% higher. wanted to double check on whether this number was based on a meaningful method, so I defaulted it at the time

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subjective tuning


# 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(mass=ret.mass, wheelbase=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(mass=ret.mass, wheelbase=ret.wheelbase,
center_to_front=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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32 changes: 12 additions & 20 deletions selfdrive/car/gm/interface.py
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Original file line number Diff line number Diff line change
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 @@ -70,6 +70,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
tire_stiffness_factor = 0.444 # not optimized yet
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Same value for all cars, we can move it out.


elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
Expand All @@ -80,6 +81,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 15.8
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
tire_stiffness_factor = 0.444 # not optimized yet

elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363. + STD_CARGO_KG
Expand All @@ -90,6 +92,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.
tire_stiffness_factor = 0.444 # not optimized yet

elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
Expand All @@ -99,6 +102,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4
tire_stiffness_factor = 0.444 # not optimized yet

elif candidate == CAR.BUICK_REGAL:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
Expand All @@ -108,6 +112,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 14.4 # guess for tourx
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
tire_stiffness_factor = 0.444 # not optimized yet

elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
Expand All @@ -117,6 +122,7 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 15.3
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
tire_stiffness_factor = 0.444 # not optimized yet

elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
Expand All @@ -127,32 +133,18 @@ def get_params(candidate, fingerprint, vin=""):
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
tire_stiffness_factor = 0.444 # not optimized yet


# 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(mass=ret.mass, wheelbase=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(mass=ret.mass, wheelbase=ret.wheelbase,
center_to_front=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.]]
Expand Down
31 changes: 8 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 +324,15 @@ 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(mass=ret.mass, wheelbase=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(mass=ret.mass, wheelbase=ret.wheelbase,
center_to_front=ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)

# no rear steering, at least on the listed cars above
ret.steerRatioRear = 0.
Expand Down
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