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Tried native Stop and Go on Highlander ICE with no comma pedal: Works! #353

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merged 11 commits into from
Sep 7, 2018
Merged

Tried native Stop and Go on Highlander ICE with no comma pedal: Works! #353

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2812cab
Trying to make Highlander ICE stop and go
zeeexsixare Sep 5, 2018
4dc6066
Making acceleration slow for fuel efficiency
zeeexsixare Sep 5, 2018
7000b1c
Removing annoying commanded disengage beep
zeeexsixare Sep 5, 2018
ba7f505
Raised accel_max by 50% and commented on chime
zeeexsixare Sep 5, 2018
115f4c8
Testing if Highlander ICE can resume follow from 0
zeeexsixare Sep 5, 2018
9b5fd92
Returned to 1.5 m/s2 for testing stop and go
zeeexsixare Sep 6, 2018
1e7cfcd
Prep for merging upstream
zeeexsixare Sep 6, 2018
5e7cceb
Prep for upstream merge item #2
zeeexsixare Sep 6, 2018
4e99248
Added Highlander ICE/Hybrid to Stop and Go
zeeexsixare Sep 6, 2018
c3f51a4
Rollback advertising stop and go for Highlanders
zeeexsixare Sep 7, 2018
c434285
Fix whitespace
zeeexsixare Sep 7, 2018
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -73,7 +73,7 @@ Supported Cars
| 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 2017 | All | Yes | Yes<sup>2</sup>| 0mph | 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 |
Expand Down Expand Up @@ -107,7 +107,7 @@ Community Maintained Cars are not confirmed by comma.ai to meet our [safety mode
In Progress Cars
------
- All TSS-P Toyota with Steering Assist.
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option. OpenPilot also adds stop-an-go functionality for Highlander and Highlander Hybrid.
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- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
- 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.
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2 changes: 1 addition & 1 deletion selfdrive/car/toyota/carcontroller.py
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Expand Up @@ -9,7 +9,7 @@

# Accel limits
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
ACCEL_MAX = 1.5 # 1.5 m/s2
ACCEL_MAX = 1.5 # 1.5 m/s2
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ACCEL_MIN = -3.0 # 3 m/s2
ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)

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6 changes: 3 additions & 3 deletions selfdrive/car/toyota/interface.py
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Expand Up @@ -147,9 +147,9 @@ def get_params(candidate, fingerprint):
# to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
ret.minEnableSpeed = -1.
elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER]: # TODO: hack ICE to do stop and go
elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS

centerToRear = ret.wheelbase - ret.centerToFront
Expand Down Expand Up @@ -244,7 +244,7 @@ def update(self, c):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
ret.cruiseState.standstill = False
Expand Down