github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
226 lines
13 KiB
Python
226 lines
13 KiB
Python
import numpy as np
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from opendbc.can import CANPacker
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from opendbc.car import Bus, DT_CTRL, structs
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from opendbc.car.lateral import apply_driver_steer_torque_limits
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.volkswagen import mebcan, mlbcan, mqbcan, pqcan
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from opendbc.car.volkswagen.values import CanBus, CarControllerParams, VolkswagenFlags
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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LongCtrlState = structs.CarControl.Actuators.LongControlState
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class HCAMitigation:
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"""
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Manages HCA fault mitigations for VW/Audi EPS racks:
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* Reduces torque by 1 for a single frame after commanding the same torque value for too long
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"""
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def __init__(self, CCP):
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self._max_same_torque_frames = CCP.STEER_TIME_STUCK_TORQUE / (DT_CTRL * CCP.STEER_STEP)
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self._same_torque_frames = 0
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def update(self, apply_torque, apply_torque_last):
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if apply_torque != 0 and apply_torque_last == apply_torque:
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self._same_torque_frames += 1
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if self._same_torque_frames > self._max_same_torque_frames:
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apply_torque -= (1, -1)[apply_torque < 0]
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self._same_torque_frames = 0
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else:
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self._same_torque_frames = 0
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return apply_torque
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP, CP_SP):
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super().__init__(dbc_names, CP, CP_SP)
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self.CCP = CarControllerParams(CP)
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self.CAN = CanBus(CP)
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self.packer_pt = CANPacker(dbc_names[Bus.pt])
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self.aeb_available = not CP.flags & VolkswagenFlags.PQ
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if CP.flags & VolkswagenFlags.PQ:
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self.CCS = pqcan
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elif CP.flags & VolkswagenFlags.MLB:
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self.CCS = mlbcan
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else:
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self.CCS = mqbcan
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self.apply_torque_last = 0
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self.apply_curvature_last = 0.
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self.steering_power_last = 0
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self.accel_last = 0.
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self.long_override_counter = 0
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self.long_disabled_counter = 0
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self.lead_distance_bars_last = None
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self.distance_bar_frame = 0
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self.gra_acc_counter_last = None
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self.hca_mitigation = HCAMitigation(self.CCP)
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def update(self, CC, CC_SP, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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can_sends = []
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# **** Steering Controls ************************************************ #
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if self.frame % self.CCP.STEER_STEP == 0:
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apply_torque = 0
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if self.CP.flags & VolkswagenFlags.MEB:
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# Logic to avoid HCA refused state:
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# * steering power as counter and near zero before OP lane assist deactivation
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# MEB rack can be used continuously without time limits
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# maximum real steering angle change ~ 120-130 deg/s
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if CC.latActive:
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hca_enabled = True
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# compensate the gap between measured and current curvature
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apply_curvature = actuators.curvature + (CS.curvature_meas - CC.currentCurvature)
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apply_curvature = self.CCP.CURVATURE_LIMITS.apply_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgoRaw, CS.curvature_meas,
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CC.latActive, self.CCP.STEER_STEP)
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min_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MIN)
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max_power = min(self.steering_power_last + self.CCP.STEERING_POWER_STEP, self.CCP.STEERING_POWER_MAX)
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target_power_driver = int(np.interp(CS.out.steeringTorque, [self.CCP.STEER_DRIVER_ALLOWANCE, self.CCP.STEER_DRIVER_MAX],
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[self.CCP.STEERING_POWER_MAX, self.CCP.STEERING_POWER_MIN]))
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target_power = int(np.interp(CS.out.vEgo, [0., 0.5], [self.CCP.STEERING_POWER_MIN, target_power_driver]))
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steering_power = min(max(target_power, min_power), max_power)
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else:
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if self.steering_power_last > 0: # keep HCA alive until steering power has reduced to zero
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hca_enabled = True
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apply_curvature = float(np.clip(CS.curvature_meas, -self.CCP.CURVATURE_MAX, self.CCP.CURVATURE_MAX))
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steering_power = max(self.steering_power_last - self.CCP.STEERING_POWER_STEP, 0)
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else:
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hca_enabled = False
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apply_curvature = 0. # inactive curvature
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steering_power = 0
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can_sends.append(mebcan.create_steering_control(self.packer_pt, self.CAN.pt, apply_curvature, hca_enabled, steering_power))
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self.apply_curvature_last = apply_curvature
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self.steering_power_last = steering_power
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else:
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if CC.latActive:
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new_torque = int(round(actuators.torque * self.CCP.STEER_MAX))
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apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.CCP)
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apply_torque = self.hca_mitigation.update(apply_torque, self.apply_torque_last)
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hca_enabled = apply_torque != 0
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self.apply_torque_last = apply_torque
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can_sends.append(self.CCS.create_steering_control(self.packer_pt, self.CAN.pt, apply_torque, hca_enabled))
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if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
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# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
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# to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
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# consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
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ea_simulated_torque = float(np.clip(apply_torque * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX))
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if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
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ea_simulated_torque = CS.out.steeringTorque
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can_sends.append(self.CCS.create_eps_update(self.packer_pt, self.CAN.cam, CS.eps_stock_values, ea_simulated_torque))
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# Emergency Assist intervention
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if self.CP.flags & VolkswagenFlags.MEB and self.CP.flags & VolkswagenFlags.STOCK_KLR_PRESENT:
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# send capacitive steering wheel hands-on message to keep ACC resume active and control Emergency Assist
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# MEB Emergency Assist brake jerks after 30s of continued hands-off time.
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# We send the stock wheeltouch message to start the stock DM timer when openpilot latches the critical driver monitoring alert
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if self.frame % self.CCP.KLR_01_STEP == 0:
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lat_active = CC.latActive and not CC.driverMonitoringEscalation
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can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.cam, lat_active, CS.klr_stock_values))
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can_sends.append(mebcan.create_capacitive_wheel_touch(self.packer_pt, self.CAN.pt, lat_active, CS.klr_stock_values))
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# **** Acceleration Controls ******************************************** #
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if self.CP.openpilotLongitudinalControl:
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if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
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stopping = actuators.longControlState == LongCtrlState.stopping
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if self.CP.flags & VolkswagenFlags.MEB:
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starting = actuators.longControlState == LongCtrlState.starting and CS.out.vEgo <= self.CP.vEgoStarting
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accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.enabled else 0)
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long_override = CC.cruiseControl.override or CS.out.gasPressed
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self.long_override_counter = min(self.long_override_counter + 1, 5) if long_override else 0
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long_override_begin = long_override and self.long_override_counter < 5
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self.long_disabled_counter = min(self.long_disabled_counter + 1, 5) if not CC.enabled else 0
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long_disabling = not CC.enabled and self.long_disabled_counter < 5
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acc_control = mebcan.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, long_override)
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acc_hold_type = mebcan.acc_hold_type(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled, starting, stopping,
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CS.esp_hold_confirmation, long_override, long_override_begin, long_disabling)
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can_sends.extend(mebcan.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.enabled,
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4.0, 4.0, 0., 0.,
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accel, acc_control, acc_hold_type, stopping, starting, CS.esp_hold_confirmation,
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CS.out.vEgoRaw * CV.MS_TO_KPH, long_override, CS.travel_assist_available))
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self.accel_last = accel
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else:
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acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
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accel = float(np.clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0)
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starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
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can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
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acc_control, stopping, starting, CS.esp_hold_confirmation))
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#if self.aeb_available:
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# if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
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# can_sends.append(self.CCS.create_aeb_control(self.packer_pt, False, False, 0.0))
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# if self.frame % self.CCP.AEB_HUD_STEP == 0:
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# can_sends.append(self.CCS.create_aeb_hud(self.packer_pt, False, False))
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# **** HUD Controls ***************************************************** #
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if self.frame % self.CCP.LDW_STEP == 0:
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hud_alert = 0
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if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
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hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
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can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, self.CAN.pt, CS.ldw_stock_values, CC.latActive,
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CS.out.steeringPressed, hud_alert, hud_control))
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if hud_control.leadDistanceBars != self.lead_distance_bars_last:
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self.distance_bar_frame = self.frame
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if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
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if self.CP.flags & VolkswagenFlags.MEB:
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fcw_alert = hud_control.visualAlert == VisualAlert.fcw
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show_distance_bars = self.frame - self.distance_bar_frame < 400
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lead_distance = 0
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if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:
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lead_distance = 8
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acc_hud_status = mebcan.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.enabled,
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CC.cruiseControl.override or CS.out.gasPressed)
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can_sends.append(mebcan.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, hud_control.setSpeed * CV.MS_TO_KPH,
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hud_control.leadVisible, hud_control.leadDistanceBars + 1, show_distance_bars,
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CS.esp_hold_confirmation, lead_distance, 0, fcw_alert))
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else:
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lead_distance = 0
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if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
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lead_distance = 512 if CS.upscale_lead_car_signal else 8
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acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
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# FIXME: PQ may need to use the on-the-wire mph/kmh toggle to fix rounding errors
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# FIXME: Detect clusters with vEgoCluster offsets and apply an identical vCruiseCluster offset
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set_speed = hud_control.setSpeed * CV.MS_TO_KPH
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can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed,
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lead_distance, hud_control.leadDistanceBars))
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# **** Stock ACC Button Controls **************************************** #
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gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
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if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
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can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.CAN.ext, CS.gra_stock_values,
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cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
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new_actuators = actuators.as_builder()
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new_actuators.torque = self.apply_torque_last / self.CCP.STEER_MAX
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new_actuators.torqueOutputCan = self.apply_torque_last
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new_actuators.curvature = self.apply_curvature_last
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new_actuators.accel = self.accel_last
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self.lead_distance_bars_last = hud_control.leadDistanceBars
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self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
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self.frame += 1
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return new_actuators, can_sends
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