import numpy as np from opendbc.can import CANPacker from opendbc.car import Bus, DT_CTRL, structs from opendbc.car.lateral import apply_driver_steer_torque_limits from opendbc.car.common.conversions import Conversions as CV from opendbc.car.interfaces import CarControllerBase from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags VisualAlert = structs.CarControl.HUDControl.VisualAlert LongCtrlState = structs.CarControl.Actuators.LongControlState class HCAMitigation: """ Manages HCA fault mitigations for VW/Audi EPS racks: * Reduces torque by 1 for a single frame after commanding the same torque value for too long """ def __init__(self, CCP): self._max_same_torque_frames = CCP.STEER_TIME_STUCK_TORQUE / (DT_CTRL * CCP.STEER_STEP) self._same_torque_frames = 0 def update(self, apply_torque, apply_torque_last): if apply_torque != 0 and apply_torque_last == apply_torque: self._same_torque_frames += 1 if self._same_torque_frames > self._max_same_torque_frames: apply_torque -= (1, -1)[apply_torque < 0] self._same_torque_frames = 0 else: self._same_torque_frames = 0 return apply_torque class CarController(CarControllerBase): def __init__(self, dbc_names, CP, CP_SP): super().__init__(dbc_names, CP, CP_SP) self.CCP = CarControllerParams(CP) self.CAN = CanBus(CP) self.packer_pt = CANPacker(dbc_names[Bus.pt]) self.aeb_available = not CP.flags & VolkswagenFlags.PQ if CP.flags & VolkswagenFlags.PQ: self.CCS = pqcan elif CP.flags & VolkswagenFlags.MLB: self.CCS = mlbcan else: self.CCS = mqbcan self.apply_torque_last = 0 self.apply_curvature_last = 0. self.steering_power_last = 0 self.accel_last = 0. self.long_override_counter = 0 self.long_disabled_counter = 0 self.lead_distance_bars_last = None self.distance_bar_frame = 0 self.gra_acc_counter_last = None self.hca_mitigation = HCAMitigation(self.CCP) def update(self, CC, CC_SP, CS, now_nanos): actuators = CC.actuators hud_control = CC.hudControl can_sends = [] # **** Steering Controls ************************************************ # if self.frame % self.CCP.STEER_STEP == 0: apply_torque = 0 if self.CP.flags & VolkswagenFlags.MEB: # Logic to avoid HCA refused state: # * steering power as counter and near zero before OP lane assist deactivation # MEB rack can be used continuously without time limits # maximum real steering angle change ~ 120-130 deg/s if CC.latActive: hca_enabled = True # compensate the gap between measured and current curvature apply_curvature = actuators.curvature + (CS.curvature_meas - CC.currentCurvature) apply_curvature = self.CCP.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw, CS.curvature_meas, CC.latActive, self.CCP.STEER_STEP) min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN) max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX) target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX], [self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN])) target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver])) steering_power = min(max(target_power, min_power), max_power) else: if self.steering_power_last > 0: # keep HCA alive until steering power has reduced to zero hca_enabled = True apply_curvature = float(np.clip(CS.curvature_meas, -self.CCP.CURVATURE_MAX, self.CCP.CURVATURE_MAX)) steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0) else: hca_enabled = False apply_curvature = 0. # inactive curvature steering_power = 0 can_sends.append(mebcan.create_steering_control(self.packer_pt, self.CAN.pt, apply_curvature, hca_enabled, steering_power)) self.apply_curvature_last = apply_curvature self.steering_power_last = steering_power else: if CC.latActive: new_torque = int(round(actuators.torque * self.CCP.STEER_MAX)) apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP) apply_torque = self.hca_mitigation.update(apply_torque, self.apply_torque_last) hca_enabled = apply_torque != 0 self.apply_torque_last = apply_torque can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled)) if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)) if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): ea_simulated_torque = CS.out.steeringTorque can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque)) # Emergency Assist intervention if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT: # send capacitive steering wheel hands-on message to keep ACC resume active and control Emergency Assist # MEB Emergency Assist brake jerks after 30s of continued hands-off time. # We send the stock wheeltouch message to start the stock DM timer when openpilot latches the critical driver monitoring alert if self.frame % self.CCP.KLR_01_STEP == 0: lat_active = CC.latActive and not CC.driverMonitoringEscalation can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, lat_active, CS.klr_stock_values)) can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, lat_active, CS.klr_stock_values)) # **** Acceleration Controls ******************************************** # if self.CP.openpilotLongitudinalControl: if self.frame % self.CCP.ACC_CONTROL_STEP == 0: stopping = actuators.longControlState == LongCtrlState.stopping if self.CP.flags & VolkswagenFlags.MEB: starting = actuators.longControlState == LongCtrlState.starting and CS.out.vEgo <= self.CP.vEgoStarting accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.enabled else 0) long_override = CC.cruiseControl.override or CS.out.gasPressed self.long_override_counter = min(self.long_override_counter + 1, 5) if long_override else 0 long_override_begin = long_override and self.long_override_counter < 5 self.long_disabled_counter = min(self.long_disabled_counter + 1, 5) if not CC.enabled else 0 long_disabling = not CC.enabled and self.long_disabled_counter < 5 acc_control = mebcan.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, long_override) acc_hold_type = mebcan.acc_hold_type(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping, CS.esp_hold_confirmation, long_override, long_override_begin, long_disabling) can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.enabled, 4.0, 4.0, 0., 0., accel, acc_control, acc_hold_type, stopping, starting, CS.esp_hold_confirmation, CS.out.vEgoRaw * CV.MS_TO_KPH, long_override, CS.travel_assist_available)) self.accel_last = accel else: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0) starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) #if self.aeb_available: # if self.frame % self.CCP.AEB_CONTROL_STEP == 0: # can_sends.append(self.CCS.create_aeb_control(self.packer_pt, False, False, 0.0)) # if self.frame % self.CCP.AEB_HUD_STEP == 0: # can_sends.append(self.CCS.create_aeb_hud(self.packer_pt, False, False)) # **** HUD Controls ***************************************************** # if self.frame % self.CCP.LDW_STEP == 0: hud_alert = 0 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"] can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive, CS.out.steeringPressed, hud_alert, hud_control)) if hud_control.leadDistanceBars != self.lead_distance_bars_last: self.distance_bar_frame = self.frame if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: if self.CP.flags & VolkswagenFlags.MEB: fcw_alert = hud_control.visualAlert == VisualAlert.fcw show_distance_bars = self.frame - self.distance_bar_frame < 400 lead_distance = 0 if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: lead_distance = 8 acc_hud_status = mebcan.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, CC.cruiseControl.override or CS.out.gasPressed) can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, hud_control.setSpeed * CV.MS_TO_KPH, hud_control.leadVisible, hud_control.leadDistanceBars + 1, show_distance_bars, CS.esp_hold_confirmation, lead_distance, 0, fcw_alert)) else: lead_distance = 0 if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor lead_distance = 512 if CS.upscale_lead_car_signal else 8 acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) # FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors # FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset set_speed = hud_control.setSpeed * CV.MS_TO_KPH can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, lead_distance, hud_control.leadDistanceBars)) # **** Stock ACC Button Controls **************************************** # gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume): can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.CAN.ext, CS.gra_stock_values, cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume)) new_actuators = actuators.as_builder() new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX new_actuators.torqueOutputCan = self.apply_torque_last new_actuators.curvature = self.apply_curvature_last new_actuators.accel = self.accel_last self.lead_distance_bars_last = hud_control.leadDistanceBars self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"] self.frame += 1 return new_actuators, can_sends