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Vehicle Researcher
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openpilot v0.5.12 release
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‎.travis.yml

+5
Original file line numberDiff line numberDiff line change
@@ -13,6 +13,11 @@ script:
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tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
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- docker run
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tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
16+
- docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common'
17+
- docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can'
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- docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd'
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- docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls'
20+
- docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd'
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- docker run
1722
-v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
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tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'

‎CONTRIBUTING.md

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@@ -10,9 +10,22 @@ Most open source development activity is coordinated through our [Discord](https
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* Make sure you have a [GitHub account](https://github.com/signup/free)
1111
* Fork [our repositories](https://github.com/commaai) on GitHub
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## Testing
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### Local Testing
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You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
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### Automated Testing
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All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
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### Code Style and Linting
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Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`.
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## Car Ports (openpilot)
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We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
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If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
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‎Dockerfile.openpilot

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@@ -2,17 +2,15 @@ FROM ubuntu:16.04
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ENV PYTHONUNBUFFERED 1
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RUN apt-get update && apt-get install -y \
5+
autoconf \
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build-essential \
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clang \
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vim \
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screen \
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wget \
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bzip2 \
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git \
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libglib2.0-0 \
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libtool \
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python-pip \
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capnproto \
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libcapnp-dev \
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libzmq5-dev \
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libffi-dev \
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libusb-1.0-0 \
@@ -21,6 +19,9 @@ RUN apt-get update && apt-get install -y \
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ocl-icd-opencl-dev \
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opencl-headers
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COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
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RUN /tmp/install_capnp.sh
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RUN pip install --upgrade pip==18.0
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RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
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‎README.md

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@@ -92,17 +92,21 @@ Supported Cars
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| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
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| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
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| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
95+
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
9596
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
97+
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
9698
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
9799
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
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| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
101+
| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
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| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
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| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
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| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
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| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
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<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)***
@@ -159,6 +163,7 @@ Directory structure
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├── pyextra # Libraries used on EON
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└── selfdrive # Code needed to drive the car
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├── assets # Fonts and images for UI
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├── athena # Allows communication with the app
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├── boardd # Daemon to talk to the board
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├── can # Helpers for parsing CAN messages
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├── car # Car specific code to read states and control actuators
@@ -169,7 +174,6 @@ Directory structure
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├── logcatd # Android logcat as a service
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├── loggerd # Logger and uploader of car data
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├── mapd # Fetches map data and computes next global path
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├── orbd # Computes ORB features from frames
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├── proclogd # Logs information from proc
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├── sensord # IMU / GPS interface code
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├── test # Car simulator running code through virtual maneuvers

‎RELEASES.md

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Version 0.5.12 (2019-05-16)
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==========================
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* Improve lateral control for the Prius and Prius Prime
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* Compress logs before writing to disk
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* Remove old driving data when storage reaches 90% full
6+
* Fix small offset in following distance
7+
* Various small CPU optimizations
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* Improve offroad power consumption: require NEOS Update
9+
* Add default speed limits for Estonia thanks to martinl!
10+
* Subaru Crosstrek support thanks to martinl!
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* Toyota Avalon support thanks to njbrown09!
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* Toyota Rav4 with TSS 2.0 support thansk to wocsor!
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* Toyota Corolla with TSS 2.0 support thansk to wocsor!
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Version 0.5.11 (2019-04-17)
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========================
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* Add support for Subaru

‎apk/ai.comma.plus.frame.apk

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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:2d45eb035af4adeaf31fe96ab36fc310962cc8c375319ac2a5e707b2cdc03097
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size 2588994
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oid sha256:61fc21ef8cec4ca15be05b1b5fdb9c4d95f3a78be891a36d84bd2dd89441e28e
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size 2596571

‎cereal/Makefile

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@@ -6,24 +6,24 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
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JS := gen/js/car.capnp.js gen/js/log.capnp.js
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88
UNAME_M ?= $(shell uname -m)
9-
# only generate C++ for docker tests
10-
ifneq ($(OPTEST),1)
11-
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
12-
13-
ifeq ($(UNAME_M),x86_64)
14-
ifneq (, $(shell which capnpc-java))
15-
GENS += gen/java/Car.java gen/java/Log.java
16-
else
17-
$(warning capnpc-java not found, skipping java build)
18-
endif
19-
endif
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10+
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
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ifeq ($(UNAME_M),x86_64)
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ifneq (, $(shell which capnpc-java))
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GENS += gen/java/Car.java gen/java/Log.java
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else
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$(warning capnpc-java not found, skipping java build)
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endif
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endif
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2323
ifeq ($(UNAME_M),aarch64)
24-
CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
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CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
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else
26-
CAPNPC=capnpc
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CAPNPC=capnpc
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endif
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.PHONY: all

‎cereal/car.capnp

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@@ -73,6 +73,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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lowBattery @48;
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invalidGiraffeHonda @49;
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vehicleModelInvalid @50;
76+
controlsFailed @51;
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}
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}
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@@ -281,31 +282,83 @@ struct CarControl {
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282283
struct CarParams {
283284
carName @0 :Text;
284-
radarNameDEPRECATED @1 :Text;
285-
carFingerprint @2 :Text;
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enableSteerDEPRECATED @3 :Bool;
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enableGasInterceptor @4 :Bool;
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enableBrakeDEPRECATED @5 :Bool;
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enableCruise @6 :Bool;
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enableCamera @26 :Bool;
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enableDsu @27 :Bool; # driving support unit
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enableApgs @28 :Bool; # advanced parking guidance system
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295-
minEnableSpeed @17 :Float32;
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minSteerSpeed @49 :Float32;
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safetyModel @18 :Int16;
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safetyParam @41 :Int16;
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300-
steerMaxBP @19 :List(Float32);
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steerMaxV @20 :List(Float32);
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gasMaxBP @21 :List(Float32);
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gasMaxV @22 :List(Float32);
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brakeMaxBP @23 :List(Float32);
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brakeMaxV @24 :List(Float32);
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307-
longPidDeadzoneBP @32 :List(Float32);
308-
longPidDeadzoneV @33 :List(Float32);
285+
carFingerprint @1 :Text;
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287+
enableGasInterceptor @2 :Bool;
288+
enableCruise @3 :Bool;
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enableCamera @4 :Bool;
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enableDsu @5 :Bool; # driving support unit
291+
enableApgs @6 :Bool; # advanced parking guidance system
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293+
minEnableSpeed @7 :Float32;
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minSteerSpeed @8 :Float32;
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safetyModel @9 :Int16;
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safetyParam @10 :Int16;
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steerMaxBP @11 :List(Float32);
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steerMaxV @12 :List(Float32);
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gasMaxBP @13 :List(Float32);
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gasMaxV @14 :List(Float32);
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brakeMaxBP @15 :List(Float32);
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brakeMaxV @16 :List(Float32);
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# things about the car in the manual
307+
mass @17 :Float32; # [kg] running weight
308+
wheelbase @18 :Float32; # [m] distance from rear to front axle
309+
centerToFront @19 :Float32; # [m] GC distance to front axle
310+
steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles
311+
steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
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313+
# things we can derive
314+
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
315+
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
316+
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
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318+
longitudinalTuning @25 :LongitudinalPIDTuning;
319+
lateralTuning :union {
320+
pid @26 :LateralPIDTuning;
321+
indi @27 :LateralINDITuning;
322+
}
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324+
steerLimitAlert @28 :Bool;
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vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
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directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
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stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
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startAccel @32 :Float32; # Required acceleraton to overcome creep braking
330+
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
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steerControlType @34 :SteerControlType;
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radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
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steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
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openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
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struct LateralPIDTuning {
338+
kpBP @0 :List(Float32);
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kpV @1 :List(Float32);
340+
kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
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kf @4 :Float32;
343+
}
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345+
struct LongitudinalPIDTuning {
346+
kpBP @0 :List(Float32);
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kpV @1 :List(Float32);
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kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
350+
deadzoneBP @4 :List(Float32);
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deadzoneV @5 :List(Float32);
352+
}
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355+
struct LateralINDITuning {
356+
outerLoopGain @0 :Float32;
357+
innerLoopGain @1 :Float32;
358+
timeConstant @2 :Float32;
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actuatorEffectiveness @3 :Float32;
360+
}
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enum SafetyModels {
311364
# does NOT match board setting
@@ -323,46 +376,6 @@ struct CarParams {
323376
subaru @11;
324377
}
325378

326-
# things about the car in the manual
327-
mass @7 :Float32; # [kg] running weight
328-
wheelbase @8 :Float32; # [m] distance from rear to front axle
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centerToFront @9 :Float32; # [m] GC distance to front axle
330-
steerRatio @10 :Float32; # [] ratio between front wheels and steering wheel angles
331-
steerRatioRear @11 :Float32; # [] rear steering ratio wrt front steering (usually 0)
332-
333-
# things we can derive
334-
rotationalInertia @12 :Float32; # [kg*m2] body rotational inertia
335-
tireStiffnessFront @13 :Float32; # [N/rad] front tire coeff of stiff
336-
tireStiffnessRear @14 :Float32; # [N/rad] rear tire coeff of stiff
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# Kp and Ki for the lateral control
339-
steerKpBP @42 :List(Float32);
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steerKpV @43 :List(Float32);
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steerKiBP @44 :List(Float32);
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steerKiV @45 :List(Float32);
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steerKpDEPRECATED @15 :Float32;
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steerKiDEPRECATED @16 :Float32;
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steerKf @25 :Float32;
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# Kp and Ki for the longitudinal control
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longitudinalKpBP @36 :List(Float32);
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longitudinalKpV @37 :List(Float32);
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longitudinalKiBP @38 :List(Float32);
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longitudinalKiV @39 :List(Float32);
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steerLimitAlert @29 :Bool;
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vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
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directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
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stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
358-
startAccel @35 :Float32; # Required acceleraton to overcome creep braking
359-
steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
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steerControlType @46 :SteerControlType;
361-
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN
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steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
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openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?
365-
366379
enum SteerControlType {
367380
torque @0;
368381
angle @1;

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