Skip to content

Commit

Permalink
Toyota: combine more hybrid platforms (commaai#31057)
Browse files Browse the repository at this point in the history 
* Combine

* migrate test models segs

* fix highlander engine

* no change
  • Loading branch information
@sshane
sshane authored Jan 19, 2024
1 parent 23cbfe9 commit 2953632
Show file tree
Hide file tree
Showing 11 changed files with 83 additions and 136 deletions.
2 changes: 1 addition & 1 deletion docs/CARS.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
Expand Down
1 change: 1 addition & 0 deletions selfdrive/car/fw_versions.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,7 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[s
found_versions = live_fw_versions.get(addr, set())
if not len(found_versions):
# Some models can sometimes miss an ecu, or show on two different addresses
# FIXME: this logic can be improved to be more specific, should require one of the two addresses
if candidate in config.non_essential_ecus.get(ecu_type, []):
continue

Expand Down
6 changes: 3 additions & 3 deletions selfdrive/car/tests/routes.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -193,14 +193,14 @@ class CarTestRoute(NamedTuple):
CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid
CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F),
CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),
CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid
CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2),
CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid
CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX),
Expand All @@ -210,7 +210,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid
CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid
CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/car/tests/test_models_segs.txt
View file
Git LFS file not shown
6 changes: 2 additions & 4 deletions selfdrive/car/torque_data/params.toml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -49,9 +49,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"LEXUS ES 2019" = [2.0357564999999997, 1.999082295195227, 0.101533]
"LEXUS NX 2018" = [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
"LEXUS NX 2020" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
"LEXUS RX 2016" = [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
"LEXUS RX 2016" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
"LEXUS RX 2020" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
"LEXUS RX HYBRID 2017" = [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
"MAZDA CX-9 2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
"SKODA SUPERB 3RD GEN" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
"SUBARU FORESTER 2019" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
Expand All @@ -66,9 +65,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"TOYOTA CAMRY 2021" = [2.3548324999999997, 2.368900128946771, 0.118436]
"TOYOTA COROLLA 2017" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
"TOYOTA COROLLA TSS2 2019" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
"TOYOTA HIGHLANDER 2017" = [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
"TOYOTA HIGHLANDER 2017" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
"TOYOTA HIGHLANDER 2020" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
"TOYOTA HIGHLANDER HYBRID 2018" = [1.752033, 1.6433903296845025, 0.144600]
"TOYOTA MIRAI 2021" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
"TOYOTA PRIUS 2017" = [1.60, 1.5023147650693636, 0.151515]
"TOYOTA PRIUS TSS2 2021" = [1.972600, 1.9104337425537743, 0.170968]
Expand Down
1 change: 0 additions & 1 deletion selfdrive/car/torque_data/substitute.toml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"LEXUS IS 2018" = "LEXUS NX 2018"
"LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
"LEXUS ES 2018" = "TOYOTA CAMRY 2018"
"LEXUS ES HYBRID 2018" = "TOYOTA CAMRY 2018"
"LEXUS RC 2020" = "LEXUS NX 2020"

"KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/toyota/carcontroller.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,7 @@ def update(self, CC, CS, now_nanos):
if self.CP.enableGasInterceptor and CC.longActive:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif self.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
Expand Down
103 changes: 24 additions & 79 deletions selfdrive/car/toyota/fingerprints.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -614,13 +614,22 @@
b'\x01896630E88000\x00\x00\x00\x00',
b'\x01896630EA0000\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B48140\x00\x00\x00\x00\x00\x00',
b'8965B48150\x00\x00\x00\x00\x00\x00',
b'8965B48160\x00\x00\x00\x00\x00\x00',
b'8965B48210\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F15260E011\x00\x00\x00\x00\x00\x00',
b'F152648541\x00\x00\x00\x00\x00\x00',
b'F152648542\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881510E01100\x00\x00\x00\x00',
Expand All @@ -635,29 +644,6 @@
b'8646F0E01300\x00\x00\x00\x00',
],
},
CAR.HIGHLANDERH: {
(Ecu.eps, 0x7a1, None): [
b'8965B48160\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152648541\x00\x00\x00\x00\x00\x00',
b'F152648542\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230E40100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230EA2000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230EA2100\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4702100\x00\x00\x00\x00',
b'8821F4702300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F0E01200\x00\x00\x00\x00',
b'8646F0E01300\x00\x00\x00\x00',
],
},
CAR.HIGHLANDER_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B48241\x00\x00\x00\x00\x00\x00',
Expand Down Expand Up @@ -1273,39 +1259,24 @@
},
CAR.LEXUS_ES: {
(Ecu.engine, 0x7e0, None): [
b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152606202\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881513309500\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33502\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4701200\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F3302200\x00\x00\x00\x00',
],
},
CAR.LEXUS_ESH: {
(Ecu.engine, 0x7e0, None): [
b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152633171\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881513309500\x00\x00\x00\x00',
b'881513310400\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33502\x00\x00\x00\x00\x00\x00',
b'8965B33512\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4701100\x00\x00\x00\x00',
b'8821F4701200\x00\x00\x00\x00',
b'8821F4701300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
Expand Down Expand Up @@ -1463,43 +1434,6 @@
b'\x018966348W1300\x00\x00\x00\x00',
b'\x018966348W2300\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152648472\x00\x00\x00\x00\x00\x00',
b'F152648473\x00\x00\x00\x00\x00\x00',
b'F152648474\x00\x00\x00\x00\x00\x00',
b'F152648492\x00\x00\x00\x00\x00\x00',
b'F152648493\x00\x00\x00\x00\x00\x00',
b'F152648494\x00\x00\x00\x00\x00\x00',
b'F152648630\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881514810300\x00\x00\x00\x00',
b'881514810500\x00\x00\x00\x00',
b'881514810700\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B0E011\x00\x00\x00\x00\x00\x00',
b'8965B0E012\x00\x00\x00\x00\x00\x00',
b'8965B48102\x00\x00\x00\x00\x00\x00',
b'8965B48111\x00\x00\x00\x00\x00\x00',
b'8965B48112\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'8821F4701000\x00\x00\x00\x00',
b'8821F4701100\x00\x00\x00\x00',
b'8821F4701200\x00\x00\x00\x00',
b'8821F4701300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F4801100\x00\x00\x00\x00',
b'8646F4801200\x00\x00\x00\x00',
b'8646F4802001\x00\x00\x00\x00',
b'8646F4802100\x00\x00\x00\x00',
b'8646F4802200\x00\x00\x00\x00',
b'8646F4809000\x00\x00\x00\x00',
],
},
CAR.LEXUS_RXH: {
(Ecu.engine, 0x7e0, None): [
b'\x02348J7000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02348N0000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
Expand All @@ -1513,13 +1447,23 @@
],
(Ecu.abs, 0x7b0, None): [
b'F152648361\x00\x00\x00\x00\x00\x00',
b'F152648472\x00\x00\x00\x00\x00\x00',
b'F152648473\x00\x00\x00\x00\x00\x00',
b'F152648474\x00\x00\x00\x00\x00\x00',
b'F152648492\x00\x00\x00\x00\x00\x00',
b'F152648493\x00\x00\x00\x00\x00\x00',
b'F152648494\x00\x00\x00\x00\x00\x00',
b'F152648501\x00\x00\x00\x00\x00\x00',
b'F152648502\x00\x00\x00\x00\x00\x00',
b'F152648504\x00\x00\x00\x00\x00\x00',
b'F152648630\x00\x00\x00\x00\x00\x00',
b'F152648740\x00\x00\x00\x00\x00\x00',
b'F152648A30\x00\x00\x00\x00\x00\x00',
],
(Ecu.dsu, 0x791, None): [
b'881514810300\x00\x00\x00\x00',
b'881514810500\x00\x00\x00\x00',
b'881514810700\x00\x00\x00\x00',
b'881514811300\x00\x00\x00\x00',
b'881514811500\x00\x00\x00\x00',
b'881514811700\x00\x00\x00\x00',
Expand All @@ -1538,6 +1482,7 @@
b'8821F4701300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'8646F4801100\x00\x00\x00\x00',
b'8646F4801200\x00\x00\x00\x00',
b'8646F4802001\x00\x00\x00\x00',
b'8646F4802100\x00\x00\x00\x00',
Expand Down
9 changes: 4 additions & 5 deletions selfdrive/car/toyota/interface.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -76,7 +76,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid

elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
stop_and_go = True
ret.wheelbase = 2.79
ret.steerRatio = 16. # 14.8 is spec end-to-end
Expand All @@ -98,7 +98,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.tireStiffnessFactor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid

elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
# TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU
stop_and_go = True
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
ret.steerRatio = 16.0
Expand Down Expand Up @@ -141,9 +142,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG

elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
stop_and_go = True
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2):
ret.wheelbase = 2.8702
ret.steerRatio = 16.0 # not optimized
ret.tireStiffnessFactor = 0.444 # not optimized yet
Expand Down
11 changes: 10 additions & 1 deletion selfdrive/car/toyota/tests/test_toyota.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,15 @@ def test_essential_ecus(self):


class TestToyotaFingerprint(unittest.TestCase):
def test_non_essential_ecus(self):
# Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list
for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value):
engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine}
self.assertEqual(len(engine_ecus) > 1,
car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine],
f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list")

# Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy
# fingerprint in the absence of full FW matches:
@settings(max_examples=100)
Expand Down Expand Up @@ -144,7 +153,7 @@ def test_fuzzy_excluded_platforms(self):
self.assertEqual(list(matches)[0], platform)
else:
# If a platform has multiple matches, add it and its matches
platforms_with_shared_codes |= {platform, *matches}
platforms_with_shared_codes |= {str(platform), *matches}

self.assertEqual(platforms_with_shared_codes, FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)))

Expand Down
Loading

0 comments on commit 2953632

Please sign in to comment.