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Subaru: Add Impreza/Crosstrek 2020 #21011

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Dec 15, 2021
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Subaru: Add Impreza/Crosstrek 2020 #21011

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48f170e
Add Subaru Impreza/Crosstrek 2020
martinl Dec 15, 2021
dc1a3e1
Update selfdrive/test/test_routes.py
adeebshihadeh Dec 15, 2021
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2 changes: 1 addition & 1 deletion docs/CARS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
| Volkswagen| Arteon 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
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11 changes: 6 additions & 5 deletions selfdrive/car/subaru/carcontroller.py
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Expand Up @@ -12,30 +12,31 @@ def __init__(self, dbc_name, CP, VM):
self.cruise_button_prev = 0
self.steer_rate_limited = False

self.p = CarControllerParams(CP)
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])

def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):

can_sends = []

# *** steering ***
if (frame % CarControllerParams.STEER_STEP) == 0:
if (frame % self.p.STEER_STEP) == 0:

apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = int(round(actuators.steer * self.p.STEER_MAX))

# limits due to driver torque

new_steer = int(round(apply_steer))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
self.steer_rate_limited = new_steer != apply_steer

if not enabled:
apply_steer = 0

if CS.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))

self.apply_steer_last = apply_steer

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10 changes: 10 additions & 0 deletions selfdrive/car/subaru/interface.py
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Expand Up @@ -45,6 +45,16 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]

if candidate == CAR.IMPREZA_2020:
ret.mass = 1480. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 17 # learned, 14 stock
ret.steerActuatorDelay = 0.1
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]

if candidate == CAR.FORESTER:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
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29 changes: 22 additions & 7 deletions selfdrive/car/subaru/values.py
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Expand Up @@ -5,17 +5,22 @@
Ecu = car.CarParams.Ecu

class CarControllerParams:
STEER_MAX = 2047 # max_steer 4095
STEER_STEP = 2 # how often we update the steer cmd
STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
STEER_DELTA_DOWN = 70 # torque decrease per refresh
STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
STEER_DRIVER_FACTOR = 1 # from dbc
def __init__(self, CP):
if CP.carFingerprint == CAR.IMPREZA_2020:
self.STEER_MAX = 1439
else:
self.STEER_MAX = 2047
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 1 # from dbc

class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
Expand All @@ -30,6 +35,14 @@ class CAR:
CAR.IMPREZA: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 827: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
}],
CAR.IMPREZA_2020: [{
# SUBARU CROSSTREK SPORT 2020
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
},
# IMPREZA 2020
{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
}],
CAR.FORESTER: [{
# Forester 2019-2020
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 811: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 961: 8, 984: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1651: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1698: 8, 1722: 8, 1743: 8, 1759: 8, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8
Expand Down Expand Up @@ -71,6 +84,7 @@ class CAR:
STEER_THRESHOLD = {
CAR.ASCENT: 80,
CAR.IMPREZA: 80,
CAR.IMPREZA_2020: 80,
CAR.FORESTER: 80,
CAR.FORESTER_PREGLOBAL: 75,
CAR.LEGACY_PREGLOBAL: 75,
Expand All @@ -81,6 +95,7 @@ class CAR:
DBC = {
CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
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1 change: 1 addition & 0 deletions selfdrive/test/test_routes.py
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Expand Up @@ -171,6 +171,7 @@
TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT),
TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
# Dashcam
TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
# Dashcam
Expand Down