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Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal (Honda Pilot Only) #475

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merged 6 commits into from Feb 5, 2019

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kegman commented Dec 20, 2018

When using the Comma Pedal there are certain situations where the brake makes a very loud grinding / crunching / ripping sound:

a) when OP is engaged and brake is pressed at slow speeds
b) when OP is engaged at standstill and brake is pressed

It was found that when user presses on the brake, brake_pressed does NOT disengage OP until it reaches a threshold value (a dead zone), leading to BOTH the user AND OP applying 2 different brake settings simultaneously. This leads to an oscillation between the two brake settings rapidly and results in a horrid crunching / grinding / ripping sound. Additionally the brake lurches and causes an unsafe braking situation.

The fix was to use USER_BRAKE signal (instead of BRAKE_PRESSED) to disengage OP earlier when user depresses the brake pedal and before the oscillation begins. The logic preserves and covers the brake_pressed scenarios as well.

kegman

@kegman kegman changed the title Eliminate brake oscillations when using Pedal Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal Dec 20, 2018

@kegman kegman changed the title Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal (Hondas) Dec 20, 2018

kegman added some commits Dec 20, 2018

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jfrux commented Dec 20, 2018

I’ve confirmed this fix is solid and works great in my 2017 Honda Pilot!!! Finally relief from never being able to touch the brake when OP was engaged and also braking.

Will test the final PR in the morning or tomorrow afternoon probably.

Thank you so much! This is amazing .

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jfrux commented Dec 20, 2018

The best way I knew how to describe it was that user tries to brake while Openpilot is braking... the brake pedal would resist and would not actually disengage Openpilot. With this fix, it does disengage cleanly like the Stock system does without Openpilot.

Anyone else experience similar things with or without the pedal interceptor?

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jfrux approved these changes Dec 20, 2018

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Looks good to me. Fully support this unless there is a more elegant way to solve it elsewhere in the codebase of course.

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kegman commented Dec 20, 2018

I'm going to put it in for the Pilot only, Odyssey seems to have more brake noise so each USER_BRAKE level setting will probably be individual to each car.

kegman
Grinding code as applied to Honda Pilot only
Each model may need its own setting due to USER_BRAKE noise disengagements

@kegman kegman changed the title Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal (Hondas) Eliminate brake oscillations and grinding / crunching / ripping sound when using Pedal (Honda Pilot Only) Dec 20, 2018

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rbiasini commented Dec 25, 2018

Can you guys explain me why this is only a problem when the pedal interceptor is used? I'm not sure why it should be any different than without the pedal interceptor (but clearly it is).

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jfrux commented Dec 25, 2018

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jfrux commented Dec 25, 2018

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jfrux commented Dec 25, 2018

kegman
Add Ridgeline to Pedal Grinding fix
Confirmed to work also on Ridgeline
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jfrux commented Jan 23, 2019

I fully support this being merged in some way or form. If this isn't the best way to do this, then please suggest some changes.

Without this PR: The brake pedal grinding is not only annoying, it's unsafe. The brake pedal fights the driver when needing to override the brake and then gives way suddenly after driver forces down, brake pressure releases and it's not "full feeling" which causes the vehicle to lunge forward. This PR restores the stock-quality experience user is expecting when pressing the brake. Openpilot disengages immediately at slightest user-override. Without this PR, OP does not disengage and resists.

@rbiasini rbiasini merged commit ee35b90 into commaai:devel Feb 5, 2019

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@kegman kegman deleted the kegman:patch-2 branch Feb 5, 2019

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