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martinl edited this page Apr 17, 2020 · 59 revisions

Openpilot longitudinal control

Openpilot model acceleration outputs (m/s2)

  • actuators.gas (0..1)
  • actuators.brake (0..1)

Toyota: apply_accel = actuators.gas - actuators.brake

Subaru global platform

Related brake signals

  • [Brake_Pedal][Brake_Lights] (0/1) - 1 when brake pedal is pressed or cruise brake active

  • [Brake_Pedal][Brake_Pedal] (0..500) - brake pedal pressure

  • [ES_Brake][Brake_Pressure] - (0..400) Hold: 394 - electric brake pressure

  • [ES_Brake][Cruise_Brake_Lights] - switch on brake lights

  • [ES_Brake][Cruise_Brake_Active] - cruise brake on

  • [ES_Brake][Cruise_Activated] - cruise control activated

  • [ES_Status][Brake_Lights] (0/1) - 1 when brake pedal or electronic brake on

  • [ES_DashStatus][Brake_Lights] (0/1) - 1 when brake pedal or electronic brake on

Related gas/acceleration signals

  • [Throttle][Throttle_Cruise] (0..140)

  • [Throttle][Throttle_Pedal]

  • [Throttle][Throttle_Combo]

  • [Throttle][Engine_RPM]

  • [Transmission][RPM]

  • [ES_Distance][Cruise_Throttle] (0..4000) input for [Throttle][Throttle_Cruise]

  • [ES_Status][Cruise_RPM] - Eyesight RPM output for ECM/TCM

  • [ES_DashStatus][Cruise_State] (0 = normal, 1 = hold+driver brake, 2 = ready, 3 = hold)

Related Eyesight distance outputs

  • [ES_DashStatus][Far_Distance] (0..15) medium distance to object in front @ 10Hz
  • [ES_Distance][Close_Distance] (0..255) 20Hz close distance to object in front (0..255 = 0..6m) @ 20Hz
  • [ES_Distance][Distance_Swap] (0/1) close distance trigger

TODO

  • Test long control

    • Emulate Eyesight engaged state for car ECU-s
      • Keep Eyesight in ready state - DONE
        • rewrite CruiseControl Cruise_Activated = 0 to keep ES in ready state
        • rewrite Brake_Status ES_Brake = 0 to keep ES from faulting on ES_Brake
        • set ES_Status Cruise_Activated = 1, Cruise_RPM = 0
        • set ES_Distance Cruise_Throttle = 808
        • set ES_Brake Cruise_Activated = 1
      • Control throttle and brake using openpilot
        • create Cruise_RPM and Cruise_Throttle output functions for openpilot actuators.gas / actuators.brake
      • Allow Pre-Collision Braking and other stock safety functions passthrough
        • ES faults when PCB is activated - DONE, needs more testing
          • Do not set Brake_Status ES_Brake = 0 if ES side ES_Brake Cruise_Brake_Active = 1
      • Test if long control works without faked ES enabled state (CruiseControl rewrite is disabled) - DONE
        • works but stop and go goes to hold
    • test slow down before turns - DONE, does slow down somewhat
    • engineering ui for long tuning - DONE
    • longitudinal PID tuning (how to measure results?)

  • Test stop and go - DONE, POC implemented

    • when in Hold and Car in front moved:

      • send Cruise_Cancel to cancel ACC to get out of Hold (Engaged > Enabled)

      • send Cruise_Resume to reengage ACC (Enabled > Engaged)?

        • DONE, does not work, sending cruise_cancel when in hold sets handbrake

      • when in Hold and Car in front moved:

        • send Brake or Throttle to cancel ACC / standstill (Engaged > Enabled) - DONE
        • send ACC Resume to engage ACC (Enabled > Engaged)
          • sending Brake_Pedal cancels and ACC Resume engages, quite slow (2-3sec) but works - DONE
          • Fix msg sending logic (70x brake, 5x acc resume) - DONE
          • use Close_Distance as faster trigger instead of lead car moved alert - DONE
          • test SNG on level ground - DONE
          • test uphill SNG - DONE
          • test downhill SNG - DONE

      • test ACC Resume reliability improvements (ES_Brake State/ES_DashStatus Cruise_State) - DONE

        • working sample
          • ES_Brake State changes 12 > 8 on Cruse_Resume, ES_DashStatus Cruise_State changes 0>2>0
        • non-working sample
          • ES_Brake State changes 12 > 0 on Cruise_Resume

      • send ACC Resume and Set when ES is not engaged (using wipers) - DONE

        • Set and Resume works for enabled > engaged and changing ACC max speed, button press signal needs to be min 5ms (5 cycles in carcontroller 100Hz loop)

  • Test and log using Conventional Cruise Control - DONE

    • no difference in ES signals vs ACC, added icon signal to ES_DashStatus

  • Document the ES can messages frequency - DONE

  • Document the signals ES requires/checks from car

    • filter messages using panda and document which missing msgs create ES fault

  • Filter stock LKAS off message and chime

    • visual notification (10sec):
      • [ES_LKAS_State][LKAS_STATE] = 2
    • alert beeps after visual (1sec):
      • [ES_LKAS_State][FCW_Cont_Beep] = 1
      • [ES_LKAS_State][FCW_Repeated_Beep] = 1
    • Solution
      • rewrite lkas_state = 0 when incoming lkas_state = 2
      • record last frame when lkas_state changes to 2 > 0 and rewrite beeps = 0 for 100 frames (1 sec)

Eyesight Features

ACC

  • ES_Distance contains acceleration and buttons status

    • Cruise_Throttle
    • Cruise_Brake_Active
    • Cruise_EPB
    • Cruise_Cancel
    • Cruise_Set
    • Cruise_Resume

  • ES_Brake

    • Brake_Pressure
    • State (8 = cruise active, 12/13 = braking)

  • ES_Status

    • Cruise_RPM
    • Brake_Lights

LKAS

  • ES_LKAS controls steering

    • LKAS_Output - steering torque request

  • ES_LKAS_State controls dash display and notifications

    • Keep_Hands_On_Wheel
    • LKAS_ACTIVE (0..3)
    • Backward_Speed_Limit_Menu?
    • LKAS_Left_Line_Visible
    • LKAS_Right_Line_Visible
    • FCW_Cont_Beep
    • FCW_Repeated_Beep
    • Vehicle_In_Front_Has_Moved
    • Throttle_Management_Activated (object in front detected)

ES CAN messages

  • 50Hz ES_LKAS - LKAS steering control
  • 20Hz ES_Brake - ACC brake pressure and status
  • 20Hz ES_Distance - ACC state (Throttle and buttons)
  • 20Hz ES_Status
  • 20Hz ES_Blank
  • 10Hz ES_DashStatus
  • 10Hz ES_LKAS_State - LKAS and FCW dash status and notifications
  • 10Hz ES_NEW_MSG_22

States

  • Enabled
  • Ready
  • Engaged
  • Hold

Buttons

  • Cancel
  • Resume
  • Set
  • Increase follow distance
  • Decrease follow distance

Openpilot message frequencies

  • CarState = 100Hz

CAR CAN messages frequencies

  • 100Hz Steering
  • 100Hz Throttle
  • 100Hz NEW_MSG_1
  • 100Hz Transmission
  • 100Hz NEW_MSG_5
  • 50Hz NEW_MSG_6
  • 50Hz Steering_Torque
  • 50Hz Brake_Pressure_L_R
  • 50Hz Brake_Pedal
  • 50Hz Wheel_Speeds
  • 50Hz G_Sensor
  • 50Hz NEW_MSG_3
  • 50Hz Cruise_Buttons
  • 50Hz NEW_MSG_4
  • 33Hz NEW_MSG_10
  • 20Hz CruiseControl
  • 20Hz NEW_MSG_16
  • 11Hz BodyInfo
  • 10Hz NEW_MSG_23
  • 10Hz NEW_MSG_2 (0:32b)
  • 10Hz NEW_MSG_24
  • 10Hz NEW_MSG_25
  • 10Hz NEW_MSG_26
  • 10Hz Dashlights
  • 10Hz NEW_MSG_27
  • 10Hz NEW_MSG_28
  • 8Hz NEW_MSG_30
  • 8Hz NEW_MSG_31
  • 2Hz NEW_MSG_36
  • 1Hz NEW_MSG_38
  • 1Hz NEW_MSG_39
  • 1Hz NEW_MSG_7
  • 1Hz NEW_MSG_44
  • 1Hz NEW_MSG_45
  • 0.8Hz NEW_MSG_34
  • 0.8Hz NEW_MSG_35
  • 0.8Hz NEW_MSG_37
  • 0.8Hz Dash_State
  • 0.8Hz NEW_MSG_43
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