openpilot v0.5.9 release

old-commit-hash: 0207a97

README.md

@@ -62,6 +62,7 @@ Supported Cars
 | ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
 | Acura                | ILX 2016-17              | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 25mph          | Nidec             |
 | Acura                | RDX 2018                 | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
+| Buick<sup>3</sup>    | Regal 2018               | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Malibu 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
@@ -81,19 +82,20 @@ Supported Cars
 | Hyundai              | Santa Fe 2019            | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Hyundai              | Elantra 2017             | SCC + LKAS           | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
 | Hyundai              | Genesis 2018             | All                  | Yes     | Stock          | 19mph            | 34mph          | Custom<sup>6</sup>|
+| Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Sorento 2018             | All                  | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Kia                  | Stinger 2018             | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | Custom<sup>6</sup>|
 | Lexus                | RX Hybrid 2016-18        | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Camry 2018<sup>4</sup>   | All                  | Yes     | Stock          | 0mph<sup>5</sup> | 0mph           | Toyota            |
 | Toyota               | C-HR 2017-18<sup>4</sup> | All                  | Yes     | Stock          | 0mph             | 0mph           | Toyota            |
-| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Corolla 2017-18          | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Highlander 2017-18       | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Highlander Hybrid 2018   | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2016               | TSS-P                | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius 2017-18            | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 | Toyota               | Prius Prime 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
-| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
-| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph            | 0mph           | Toyota            |
+| Toyota               | Rav4 2016                | TSS-P                | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
+| Toyota               | Rav4 2017-18             | All                  | Yes     | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph           | Toyota            |
 | Toyota               | Rav4 Hybrid 2017-18      | All                  | Yes     | Yes<sup>2</sup>| 0mph             | 0mph           | Toyota            |
 
 <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)***  
@@ -166,7 +168,7 @@ Directory structure
         ├── sensord         # IMU / GPS interface code
         ├── test            # Car simulator running code through virtual maneuvers
         ├── ui              # The UI
-        └── visiond         # Embedded vision pipeline
+        └── visiond         # Vision pipeline
 
 To understand how the services interact, see `selfdrive/service_list.yaml`
 

RELEASES.md

@@ -1,10 +1,21 @@
+Version 0.5.9 (2019-02-10)
+========================
+ * Improve calibration using a dedicated neural network
+ * Abstract planner in its own process to remove lags in controls process
+ * Improve speed limits with country/region defaults by road type
+ * Reduce mapd data usage with gzip thanks to eFiniLan
+ * Zip log files in the background to reduce disk usage
+ * Kia Optima support thanks to emmertex!
+ * Buick Regal 2018 support thanks to HOYS!
+ * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+
 Version 0.5.8 (2019-01-17)
 ========================
  * Open sourced visiond
  * Auto-slowdown for upcoming turns
  * Chrysler/Jeep/Fiat support thanks to adhintz!
  * Honda Civic 2019 support thanks to csouers!
- * Improved use of car display in Toyota thanks to arne182!
+ * Improve use of car display in Toyota thanks to arne182!
  * No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
  * EON stops charging when 12V battery drops below 11.8V
 

cereal/log.capnp

@@ -374,6 +374,7 @@ struct Live100Data {
   l20MonoTimeDEPRECATED @17 :UInt64;
   mdMonoTimeDEPRECATED @18 :UInt64;
   planMonoTime @28 :UInt64;
+  pathPlanMonoTime @50 :UInt64;
 
   state @31 :ControlState;
   vEgo @0 :Float32;
@@ -401,6 +402,7 @@ struct Live100Data {
   cumLagMs @15 :Float32;
   startMonoTime @48 :UInt64;
   mapValid @49 :Bool;
+  forceDecel @51 :Bool;
 
   enabled @19 :Bool;
   active @36 :Bool;
@@ -546,12 +548,12 @@ struct Plan {
   events @13 :List(Car.CarEvent);
 
   # lateral, 3rd order polynomial
-  lateralValid @0 :Bool;
-  dPoly @1 :List(Float32);
-  laneWidth @11 :Float32;
+  lateralValidDEPRECATED @0 :Bool;
+  dPolyDEPRECATED @1 :List(Float32);
+  laneWidthDEPRECATED @11 :Float32;
 
   # longitudinal
-  longitudinalValid @2 :Bool;
+  longitudinalValidDEPRECATED @2 :Bool;
   vCruise @16 :Float32;
   aCruise @17 :Float32;
   vTarget @3 :Float32;
@@ -560,10 +562,14 @@ struct Plan {
   aTargetMinDEPRECATED @4 :Float32;
   aTargetMaxDEPRECATED @5 :Float32;
   aTarget @18 :Float32;
+
+  vStart @26 :Float32;
+  aStart @27 :Float32;
+
   jerkFactor @6 :Float32;
   hasLead @7 :Bool;
-  hasLeftLane @23 :Bool;
-  hasRightLane @24 :Bool;
+  hasLeftLaneDEPRECATED @23 :Bool;
+  hasRightLaneDEPRECATED @24 :Bool;
   fcw @8 :Bool;
   longitudinalPlanSource @15 :LongitudinalPlanSource;
 
@@ -577,6 +583,7 @@ struct Plan {
   decelForTurn @22 :Bool;
   mapValid @25 :Bool;
 
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -590,6 +597,21 @@ struct Plan {
   }
 }
 
+struct PathPlan {
+  laneWidth @0 :Float32;
+
+  dPoly @1 :List(Float32);
+  cPoly @2 :List(Float32);
+  cProb @3 :Float32;
+  lPoly @4 :List(Float32);
+  lProb @5 :Float32;
+  rPoly @6 :List(Float32);
+  rProb @7 :Float32;
+
+  angleSteers @8 :Float32;
+  valid @9 :Bool;
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1276,6 +1298,7 @@ struct UbloxGnss {
       carrierPhaseStdev @10 :Float32;
       # doppler standard deviation in Hz
       dopplerStdev @11 :Float32;
+      sigId @12 :UInt8;
 
       struct TrackingStatus {
         # pseudorange valid
@@ -1584,6 +1607,11 @@ struct LiveParametersData {
 struct LiveMapData {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
+  speedAdvisoryValid @12 :Bool;
+  speedAdvisory @13 :Float32;
+  speedLimitAheadValid @14 :Bool;
+  speedLimitAhead @15 :Float32;
+  speedLimitAheadDistance @16 :Float32;
   curvatureValid @2 :Bool;
   curvature @3 :Float32;
   wayId @4 :UInt64;
@@ -1603,6 +1631,13 @@ struct CameraOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct KalmanOdometry {
+  trans @0 :List(Float32); # m/s in device frame
+  rot @1 :List(Float32); # rad/s in device frame
+  transStd @2 :List(Float32); # std m/s in device frame
+  rotStd @3 :List(Float32); # std rad/s in device frame
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1671,5 +1706,7 @@ struct Event {
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
     cameraOdometry @63 :CameraOdometry;
+    pathPlan @64 :PathPlan;
+    kalmanOdometry @65 :KalmanOdometry;
   }
 }

common/params.py

@@ -67,6 +67,7 @@ class UnknownKeyName(Exception):
 # written: visiond
 # read:    visiond, controlsd
   "CalibrationParams": TxType.PERSISTENT,
+  "ControlsParams": TxType.PERSISTENT,
 # written: controlsd
 # read:    radard
   "CarParams": TxType.CLEAR_ON_CAR_START,

common/transformations/camera.py

@@ -29,21 +29,13 @@
 def get_calib_from_vp(vp):
   vp_norm = normalize(vp)
   yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  # TODO should be, this but written
-  # to be compatible with meshcalib and
-  # get_view_frame_from_road_fram
-  #pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
   roll_calib = 0
   return roll_calib, pitch_calib, yaw_calib
 
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
-  # TODO
-  # calibration pitch is currently defined
-  # opposite to pitch in device frame
-  pitch = -pitch
   device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
   view_from_road = view_frame_from_device_frame.dot(device_from_road)
   return np.hstack((view_from_road, [[0], [height], [0]]))

requirements_openpilot.txt

@@ -15,7 +15,7 @@ cffi==1.11.5
 contextlib2==0.5.4
 crc16==0.1.1
 crcmod==1.7
-cryptography==1.4
+cryptography==2.1.4
 cycler==0.10.0
 decorator==4.0.10
 docopt==0.6.2
@@ -31,7 +31,7 @@ nose==1.3.7
 numpy==1.11.1
 pause==0.1.2
 py==1.4.31
-pyOpenSSL==16.0.0
+pyOpenSSL==17.5.0
 pyasn1-modules==0.0.8
 pyasn1==0.1.9
 pycapnp==0.6.3

selfdrive/car/chrysler/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 from common.realtime import sec_since_boot
-from cereal import car, log
+from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -256,7 +256,7 @@ def update(self, c):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c, perception_state=log.Live20Data.new_message()):
+  def apply(self, c):
 
     if (self.CS.frame == -1):
       return False # if we haven't seen a frame 220, then do not update.

selfdrive/car/ford/interface.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 from common.realtime import sec_since_boot
-from cereal import car, log
+from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
@@ -210,7 +210,7 @@ def update(self, c):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c, perception_state=log.Live20Data.new_message()):
+  def apply(self, c):
 
     self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
                    c.hudControl.visualAlert, c.cruiseControl.cancel)

selfdrive/car/gm/carcontroller.py

@@ -4,22 +4,24 @@
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import CAR, DBC
+from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS
 from selfdrive.can.packer import CANPacker
 
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
-    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-      self.STEER_MAX = 300
-      self.STEER_STEP = 2              # how often we update the steer cmd
-      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
-      self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
-    elif car_fingerprint == CAR.CADILLAC_CT6:
+    if car_fingerprint in SUPERCRUISE_CARS:
       self.STEER_MAX = 150
       self.STEER_STEP = 1              # how often we update the steer cmd
       self.STEER_DELTA_UP = 2          # 0.75s time to peak torque
       self.STEER_DELTA_DOWN = 5        # 0.3s from peak torque to zero
+      self.MIN_STEER_SPEED = -1.       # can steer down to zero
+    else:
+      self.STEER_MAX = 300
+      self.STEER_STEP = 2              # how often we update the steer cmd
+      self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
+      self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
+      self.MIN_STEER_SPEED = 3.
 
     self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
     self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
@@ -94,7 +96,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     ### STEER ###
 
     if (frame % P.STEER_STEP) == 0:
-      lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
+      lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > P.MIN_STEER_SPEED
       if lkas_enabled:
         apply_steer = actuators.steer * P.STEER_MAX
         apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, P)
@@ -104,16 +106,16 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
 
-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
-        can_sends.append(gmcan.create_steering_control(self.packer_pt,
-          canbus.powertrain, apply_steer, idx, lkas_enabled))
-      if self.car_fingerprint == CAR.CADILLAC_CT6:
+      if self.car_fingerprint in SUPERCRUISE_CARS:
         can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
           canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
+      else:
+        can_sends.append(gmcan.create_steering_control(self.packer_pt,
+          canbus.powertrain, apply_steer, idx, lkas_enabled))
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
+    if self.car_fingerprint not in SUPERCRUISE_CARS:
       # no output if not enabled, but keep sending keepalive messages
       # treat pedals as one
       final_pedal = actuators.gas - actuators.brake
@@ -164,17 +166,17 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       if frame % P.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
 
-    # Show green icon when LKA torque is applied, and
-    # alarming orange icon when approaching torque limit.
-    # If not sent again, LKA icon disappears in about 5 seconds.
-    # Conveniently, sending camera message periodically also works as a keepalive.
-    lka_active = CS.lkas_status == 1
-    lka_critical = lka_active and abs(actuators.steer) > 0.9
-    lka_icon_status = (lka_active, lka_critical)
-    if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
-        or lka_icon_status != self.lka_icon_status_last:
-      can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
-      self.lka_icon_status_last = lka_icon_status
+      # Show green icon when LKA torque is applied, and
+      # alarming orange icon when approaching torque limit.
+      # If not sent again, LKA icon disappears in about 5 seconds.
+      # Conveniently, sending camera message periodically also works as a keepalive.
+      lka_active = CS.lkas_status == 1
+      lka_critical = lka_active and abs(actuators.steer) > 0.9
+      lka_icon_status = (lka_active, lka_critical)
+      if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
+          or lka_icon_status != self.lka_icon_status_last:
+        can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
+        self.lka_icon_status_last = lka_icon_status
 
     # Send chimes
     if self.chime != chime: