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Honda Bosch Radarless: experimental longitudinal support - #25364

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sshane merged 99 commits into
commaai:masterfrom
royjr:civic22_long
Mar 28, 2023
Merged

Honda Bosch Radarless: experimental longitudinal support#25364
sshane merged 99 commits into
commaai:masterfrom
royjr:civic22_long

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@royjr

@royjr royjr commented Aug 4, 2022 •
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Possible pull for #25355. Works great except stops way too close to the lead car.
See panda PR

@royjr royjr mentioned this pull request Aug 4, 2022
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@sshane sshane changed the title Honda Bosch Radarless Honda Bosch Radarless longitudinal Aug 4, 2022
@sshane

sshane commented Aug 4, 2022 •
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Can you provide some routes with rlogs uploaded in stop and go traffic and highway speeds (and maybe some heavy brake and accel instances)? I'd like to confirm we understand the the accel interface and it follows our request well enough

@sshane sshane added enhancement car vehicle-specific honda labels Aug 4, 2022
@sshane sshane changed the title Honda Bosch Radarless longitudinal Honda Bosch Radarless longitudinal behind toggle Aug 4, 2022
sshane
sshane reviewed Aug 4, 2022
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Comment thread selfdrive/car/honda/interface.py Outdated
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sshane commented Aug 4, 2022 •
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Also should figure out what sends AEB and FCW so we can make sure those are never blocked (I think the camera does it?) @royjr do you know about AEB?

@royjr

royjr commented Aug 5, 2022

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I assume FCW is the warning before AEB takes over and starts braking. I believe the camera sends those messges from our last findings. I was never able to trigger AEB on my car confirm the AEB messages (AEB_BRAKING, AEB_STATUS)

@royjr
royjr force-pushed the civic22_long branch 2 times, most recently from ea6f30f to a946516 Compare August 8, 2022 03:35
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adeebshihadeh marked this pull request as draft August 25, 2022 23:42
@royjr
royjr force-pushed the civic22_long branch 2 times, most recently from 2375637 to cc881cc Compare August 27, 2022 13:12
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royjr commented Sep 1, 2022

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1a5d045d2c531a6d|2022-09-01--13-46-28
1a5d045d2c531a6d|2022-09-01--13-36-53

@royjr

royjr commented Sep 4, 2022 •
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tmux: undefined signal STANDSTILL - 456
There is no STANDSTILL in ACC_CONTROL for this car.

@sshane

sshane commented Sep 5, 2022 •
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Should be fixed now. Can you tell me a few things?

  • With stock ACC, do you need to press the resume button or press the accelerator to resume from a stop?
  • Before the STANDSTILL addition and on openpilot ACC, do you need to press the resume button or press the accelerator to resume from a stop?
  • After the STANDSTILL addition, does that change?

@royjr

royjr commented Sep 7, 2022

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Stock ACC - needs resume button
OP + Stock ACC - does not need resume button, but sometimes doesnt resume automatically (once in a blue)
OP + OP ACC - does not need resume button, but short terms tests may not be conclusive based on above
OP + OP ACC + STANDSTILL addition - does not need resume button, but short terms tests may not be conclusive based on above

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sshane commented Mar 28, 2023 •
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@royjr when this is merged, can you open new PRs for the following?

  • idlestop timer, if stock uses a timer and doesn't set it immediately or statically
  • match stock hide speed behavior on override

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@sshane sshane changed the title Honda Bosch Radarless longitudinal behind toggle Honda Bosch Radarless: experimental longitudinal support Mar 28, 2023
@sshane sshane linked an issue Mar 28, 2023 that may be closed by this pull request
Honda Bosch Radarless: add longitudinal support behind toggle #25355
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@sshane
sshane merged commit 1853d6f into commaai:master Mar 28, 2023
@sshane sshane mentioned this pull request Mar 28, 2023
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pfeiferj pushed a commit to pfeiferj/pfeifer-pilot-patches that referenced this pull request Apr 11, 2023
@royjr @sshane @pfeiferj
Honda Bosch Radarless: experimental longitudinal support (commaai#25364)
4ca5153 
* civic22_long

* Stock requests -4

* add standstill bit

* bump

* fix standstill

* bump

* bump

* bump panda

* Update hondacan.py

* bump panda

* add docs

* bump panda

* bump panda

* fix control_on value

* set control_off

* fix cars.md

* Update panda

* Update opendbc

* Update panda

* Update panda

* allow more braking

* Revert "allow more braking"

This reverts commit ecd2493.

* Update panda

* fix speed mismatch

* Revert "fix speed mismatch"

This reverts commit ca795dc.

* Update panda

* fix speed mismatch and standstill

* delay stopped message to match stock behavior

* green cruise only when enabled

* Update panda

* Revert "green cruise only when enabled"

This reverts commit d21aa5b.

* lesser nester

* simplify

* simplify control_on

* simplify common signals

* simplify CONTROL_ON

* lessest nester

* hide speed on gas_override to match stock behavior

* tiny simplification, lesser nester

* flip common acc control values around

* move magic number to global variable

* Revert "move magic number to global variable"

This reverts commit 160be0e.

* remove stopped logic

* remove unused variable

* looks ok

* looks better

* simplify override

* clarify CONTROL_OFF signal comment

* civic22_long_bettercontroloff

shorten delay

init

selfless

whoops

move to carcontroller

selfmore

lower time, currently take 5s to kick in

just right

deline

* Rename CONTROL_OFF -> IDLESTOP_ALLOW

This tells the car its ready to turn off the engine, which does so when the car is standstill.

* Update panda

* Update opendbc

* Update panda

* fix docs

* Update panda

* Update panda

* Update opendbc

* Update panda

* Update panda

* Update panda

* Update panda

* bump panda

* idlestop in another PR

* radarless doesn't need tester present

* simplify that

* helper

* one line is fine

* test bump

* bumpback

* disallow

* reduce diff

---------

Co-authored-by: sshane <shane@smiskol.com>
@royjr royjr mentioned this pull request Jul 31, 2023
Closed
@royjr
royjr deleted the civic22_long branch September 27, 2023 04:26
66thparallel pushed a commit to 66thparallel/janes_openpilot_fork that referenced this pull request May 1, 2026
@royjr @sshane
Honda Bosch Radarless: experimental longitudinal support (commaai#25364)
f4d0b68 
* civic22_long

* Stock requests -4

* add standstill bit

* bump

* fix standstill

* bump

* bump

* bump panda

* Update hondacan.py

* bump panda

* add docs

* bump panda

* bump panda

* fix control_on value

* set control_off

* fix cars.md

* Update panda

* Update opendbc

* Update panda

* Update panda

* allow more braking

* Revert "allow more braking"

This reverts commit ecd2493.

* Update panda

* fix speed mismatch

* Revert "fix speed mismatch"

This reverts commit ca795dc.

* Update panda

* fix speed mismatch and standstill

* delay stopped message to match stock behavior

* green cruise only when enabled

* Update panda

* Revert "green cruise only when enabled"

This reverts commit d21aa5b.

* lesser nester

* simplify

* simplify control_on

* simplify common signals

* simplify CONTROL_ON

* lessest nester

* hide speed on gas_override to match stock behavior

* tiny simplification, lesser nester

* flip common acc control values around

* move magic number to global variable

* Revert "move magic number to global variable"

This reverts commit 160be0e.

* remove stopped logic

* remove unused variable

* looks ok

* looks better

* simplify override

* clarify CONTROL_OFF signal comment

* civic22_long_bettercontroloff

shorten delay

init

selfless

whoops

move to carcontroller

selfmore

lower time, currently take 5s to kick in

just right

deline

* Rename CONTROL_OFF -> IDLESTOP_ALLOW

This tells the car its ready to turn off the engine, which does so when the car is standstill.

* Update panda

* Update opendbc

* Update panda

* fix docs

* Update panda

* Update panda

* Update opendbc

* Update panda

* Update panda

* Update panda

* Update panda

* bump panda

* idlestop in another PR

* radarless doesn't need tester present

* simplify that

* helper

* one line is fine

* test bump

* bumpback

* disallow

* reduce diff

---------

Co-authored-by: sshane <shane@smiskol.com>
old-commit-hash: 1853d6f
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Honda Bosch Radarless: add longitudinal support behind toggle

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