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openpilot v0.5.3 release
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@klaus385
Vehicle Researcher authored and klaus385 committed Dec 25, 2018
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88 changes: 47 additions & 41 deletions README.md
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Expand Up @@ -41,53 +41,57 @@ Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` dur
Supported Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| ------- | ---------------------- | -------------------- | ------- | ------------ | -------------- | -------------- |
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| GM<sup>3</sup>| Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup>| Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below |
| -------------------| ----------------------| ---------------------| --------| ---------------| -----------------| ---------------|
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| GM<sup>3</sup> | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| GM<sup>3</sup> | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Civic 2018 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2018 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2015 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2016 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | CR-V 2017 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | CR-V 2018 | Honda Sensing | Yes | Stock | 0mph | 12mph |
| Honda | Odyssey 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
| Honda | Odyssey 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
| Honda | Odyssey 2019 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph |
| Honda | Pilot 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2017 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Honda | Ridgeline 2018 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph |
| Hyundai<sup>6</sup>| Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph |
| Lexus | RX Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Camry 2018<sup>4</sup>| All | Yes | Stock | 0mph<sup>5</sup> | 0mph |
| Toyota | C-HR 2018<sup>4</sup> | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Highlander Hybrid 2018| All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2017 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 2018 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph |
| Toyota | Rav4 Hybrid 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph |

<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://www.zoneos.com/volt.htm)
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Giraffe is under development: architecture similar to Toyota giraffe, with an extra 120Ohm resistor on bus 3.

Community Maintained Cars
------
Expand All @@ -108,6 +112,8 @@ In Progress Cars
- All LSS-P Lexus with Steering Assist or Lane Keep Assist.
- 'All-Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the GS, GSH, F, RX, RXH, LX, NX, NXH, LC, LCH, LS, LSH have this option.
- Even though the LX have TSS-P, it does not have Steering Assist and is not supported.
- All Hyundai with SmartSense.
- All Kia with ACC and LKAS.

How can I add support for my car?
------
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7 changes: 7 additions & 0 deletions RELEASES.md
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@@ -1,3 +1,10 @@
Version 0.5.3 (2018-09-03)
========================
* Hyundai Santa Fe support!
* Honda Pilot 2019 support thanks to energee!
* Toyota Hyghlander support thanks to daehahn!
* Improve steering tuning for Honda Odyssey

Version 0.5.2 (2018-08-16)
========================
* New calibration: more accurate, a lot faster, open source!
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8 changes: 8 additions & 0 deletions cereal/log.capnp
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Expand Up @@ -42,6 +42,7 @@ struct InitData {

dirty @9 :Bool;
passive @12 :Bool;
params @17 :Map(Text, Text);

enum DeviceType {
unknown @0;
Expand Down Expand Up @@ -186,6 +187,10 @@ struct SensorEventData {
iOS @1;
fiber @2;
velodyne @3; # Velodyne IMU
# c3 sensors below
bno055 @4;
lsm6ds3 @5;
bmp280 @6;
}
}

Expand Down Expand Up @@ -262,6 +267,8 @@ struct ThermalData {
freeSpace @7 :Float32;
batteryPercent @8 :Int16;
batteryStatus @9 :Text;
batteryCurrent @15 :Int32;
batteryVoltage @16 :Int32;
usbOnline @12 :Bool;

fanSpeed @10 :UInt16;
Expand Down Expand Up @@ -327,6 +334,7 @@ struct Live20Data {
aLeadK @9 :Float32;
fcw @10 :Bool;
status @11 :Bool;
aLeadTau @12 :Float32;
}
}

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3 changes: 2 additions & 1 deletion common/dbc.py
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Expand Up @@ -199,6 +199,7 @@ def decode(self, x, arr=None, debug=False):

st = x[2].rjust(8, '\x00')
le, be = None, None
size = msg[0][1]

for s in msg[1]:
if arr is not None and s[0] not in arr:
Expand All @@ -215,7 +216,7 @@ def decode(self, x, arr=None, debug=False):
else:
if le is None:
le = struct.unpack("<Q", st)[0]
x2_int = le
x2_int = le >> (64 - 8 * size)
ss = s[1]
data_bit_pos = ss

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6 changes: 5 additions & 1 deletion selfdrive/boardd/boardd.cc
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Expand Up @@ -39,6 +39,7 @@
#define SAFETY_HONDA_BOSCH 4
#define SAFETY_FORD 5
#define SAFETY_CADILLAC 6
#define SAFETY_HYUNDAI 7
#define SAFETY_TOYOTA_NOLIMITS 0x1336
#define SAFETY_ALLOUTPUT 0x1337

Expand Down Expand Up @@ -113,6 +114,9 @@ void *safety_setter_thread(void *s) {
case (int)cereal::CarParams::SafetyModels::CADILLAC:
safety_setting = SAFETY_CADILLAC;
break;
case (int)cereal::CarParams::SafetyModels::HYUNDAI:
safety_setting = SAFETY_HYUNDAI;
break;
default:
LOGE("unknown safety model: %d", safety_model);
}
Expand Down Expand Up @@ -584,7 +588,7 @@ void *pigeon_thread(void *crap) {
//printf("got %d\n", len);
alen += len;
}
if (alen > 0) {
if (alen > 0) {
if (dat[0] == (char)0x00){
LOGW("received invalid ublox message, resetting pigeon");
pigeon_init();
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1 change: 0 additions & 1 deletion selfdrive/can/packer.cc
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@@ -1,5 +1,4 @@
#include <cassert>

#include <string>
#include <vector>
#include <utility>
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11 changes: 8 additions & 3 deletions selfdrive/can/packer.py
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Expand Up @@ -47,11 +47,16 @@ def make_can_msg(self, addr, bus, values, counter=-1):

if __name__ == "__main__":
## little endian test
cp = CANPacker("hyundai_2015_ccan")
cp = CANPacker("hyundai_santa_fe_2019_ccan")
s = cp.pack_bytes(0x340, {
"CR_Lkas_StrToqReq": -0.06,
"CF_Lkas_FcwBasReq": 1,
"CF_Lkas_Chksum": 3,
#"CF_Lkas_FcwBasReq": 1,
"CF_Lkas_MsgCount": 7,
"CF_Lkas_HbaSysState": 0,
#"CF_Lkas_Chksum": 3,
})
s = cp.pack_bytes(0x340, {
"CF_Lkas_MsgCount": 1,
})
# big endian test
#cp = CANPacker("honda_civic_touring_2016_can_generated")
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1 change: 1 addition & 0 deletions selfdrive/can/parser.cc
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Expand Up @@ -259,6 +259,7 @@ class CANParser {
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());

// Assumes all signals in the message are of the same type (little or big endian)
// TODO: allow signals within the same message to have different endianess
auto& sig = message_states[cmsg.getAddress()].parse_sigs[0];
if (sig.is_little_endian) {
p = read_u64_le(dat);
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22 changes: 22 additions & 0 deletions selfdrive/car/__init__.py
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@@ -1,4 +1,26 @@
# functions common among cars
from common.numpy_fast import clip


def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}


def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):

# limits due to driver torque
driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)

# slow rate if steer torque increases in magnitude
if apply_torque_last > 0:
apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
apply_torque_last + LIMITS.STEER_DELTA_UP)
else:
apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))

return int(round(apply_torque))
1 change: 1 addition & 0 deletions selfdrive/car/car_helpers.py
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Expand Up @@ -97,6 +97,7 @@ def get_car(logcan, sendcan=None, passive=True):
return None, None

interface_cls = interfaces[candidate]

if interface_cls is None:
cloudlog.warning("car matched %s, but interface wasn't available or failed to import" % candidate)
return None, None
Expand Down
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