From 292c5bf31f02f717d6fd34e332b863d0769a9de3 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Mon, 25 Mar 2024 20:34:08 -0400 Subject: [PATCH 01/10] TestingPID Enabled PID, Lowered Min Steer Speed --- selfdrive/car/chrysler/interface.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index a7433b09424603..703572993b062a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -53,9 +53,16 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.mass = 1747 ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner - ret.minSteerSpeed = 18.5 # TODO: conservative, need to test + #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test + ret.minSteerSpeed = 13 # TODO: conservative, need to test, reduced to 13 ret.steerActuatorDelay = 0.2 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) + #adding PID from Jeep Grand Cherokee + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] + ret.lateralTuning.pid.kf = 0.00006 + #Attempt to enable PID by removing tork tune disable + #CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019): ret.mass = 1778 From 6d74d8e42c2589815d77f44fe0d0b6d164afd3ec Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Mon, 25 Mar 2024 21:04:08 -0400 Subject: [PATCH 02/10] Update interface.py --- selfdrive/car/chrysler/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 703572993b062a..c4e5b1d4aad5b1 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -54,7 +54,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test - ret.minSteerSpeed = 13 # TODO: conservative, need to test, reduced to 13 + ret.minSteerSpeed = 17 # TODO: conservative, need to test, reduced to 13 ret.steerActuatorDelay = 0.2 #adding PID from Jeep Grand Cherokee ret.lateralTuning.init('pid') From 334c9c50590d0054b676ebbb7805834dbf850ebd Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 07:55:07 -0400 Subject: [PATCH 03/10] Updating Notes on PID and MinSteer --- selfdrive/car/chrysler/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index c4e5b1d4aad5b1..8e03acf7292686 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -54,9 +54,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test - ret.minSteerSpeed = 17 # TODO: conservative, need to test, reduced to 13 + ret.minSteerSpeed = 17 # reduced to 17 ret.steerActuatorDelay = 0.2 - #adding PID from Jeep Grand Cherokee + #adding PID call and params from Jeep Grand Cherokee ret.lateralTuning.init('pid') ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] From 8cb5af8918866156bdd18dd02e526ee11b0bc687 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 07:56:40 -0400 Subject: [PATCH 04/10] Testing reduction of assymetric minsteer --- selfdrive/car/chrysler/carcontroller.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index e6547e89b75219..e6cf014f6d50e4 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -61,9 +61,11 @@ def update(self, CC, CS, now_nanos): elif self.CP.carFingerprint in CUSW_CARS: # TODO: Chrysler 200 appears to support asymmetric down to mid-13s, Cherokee not verified yet, model-year variances likely # TODO: Consolidate with HIGHER_MIN_STEERING_SPEED cars if we can make engage consistently work at 17.5 m/s - if CS.out.vEgo < 16.5: - lkas_control_bit = False - + #if CS.out.vEgo < 16.5: + # lkas_control_bit = False + # Testing reduced asymmetric + if CS.out.vEgo < 13.5: #Starting test at 13.5 per previous comment + lkas_control_bit = False # EPS faults if LKAS re-enables too quickly lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200) From 745875f31582a1c0a987ff5f57cbbf68971807b3 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 12:31:19 -0400 Subject: [PATCH 05/10] Update interface.py --- selfdrive/car/chrysler/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 8e03acf7292686..063939ac0a51da 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python3 +aww was#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config @@ -54,7 +54,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test - ret.minSteerSpeed = 17 # reduced to 17 + ret.minSteerSpeed = 15 # reduced to 15 ret.steerActuatorDelay = 0.2 #adding PID call and params from Jeep Grand Cherokee ret.lateralTuning.init('pid') From 99b7b34f667f506b8915764a96bd20d3b3bdfdde Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 18:18:54 -0400 Subject: [PATCH 06/10] Latest Commit reflects changes to Cherokee RKL min steer speed and pid lateral tuning --- selfdrive/car/chrysler/interface.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 063939ac0a51da..d3636cf3cb3c98 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -54,9 +54,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test - ret.minSteerSpeed = 15 # reduced to 15 + ret.minSteerSpeed = 17.5 # reduced to 17.5 ret.steerActuatorDelay = 0.2 - #adding PID call and params from Jeep Grand Cherokee + #Adding PID call and params from Jeep Grand Cherokee ret.lateralTuning.init('pid') ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] From fca2779d392c208d207c83df48f03236b38f0db5 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 18:28:51 -0400 Subject: [PATCH 07/10] Update carcontroller.py From 2234e45ab690971e1e77b29852b55bd1585df758 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 18:51:39 -0400 Subject: [PATCH 08/10] Update carstate.py --- selfdrive/car/chrysler/carstate.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index c5ffe850901fbe..694532d7de8dd1 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -77,6 +77,7 @@ def update(self, cp, cp_cam): ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1 ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1 ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS + #Not qualified to troubleshoot but on 2019 Cherokee KL, can enable autosteer when adaptive isn't enabled ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1 ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0 From 1486022cb91ed545f1745c78d9b9cf6c578f3f76 Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 18:55:58 -0400 Subject: [PATCH 09/10] Update interface.py --- selfdrive/car/chrysler/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index d3636cf3cb3c98..af8f82c3ff76d3 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -54,7 +54,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.wheelbase = 2.70 ret.steerRatio = 17 # TODO: verify against params learner #ret.minSteerSpeed = 18.5 # TODO: conservative, need to test - ret.minSteerSpeed = 17.5 # reduced to 17.5 + ret.minSteerSpeed = 15.5 # reduced to 15.5 ret.steerActuatorDelay = 0.2 #Adding PID call and params from Jeep Grand Cherokee ret.lateralTuning.init('pid') From c8a244b48b90f211d23332b465b08832710307dc Mon Sep 17 00:00:00 2001 From: ngk0 <162893957+ngk0@users.noreply.github.com> Date: Tue, 26 Mar 2024 18:58:10 -0400 Subject: [PATCH 10/10] Update interface.py --- selfdrive/car/chrysler/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index af8f82c3ff76d3..1879528eed12cf 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,4 +1,4 @@ -aww was#!/usr/bin/env python3 +#!/usr/bin/env python3 from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config