-
Notifications
You must be signed in to change notification settings - Fork 8.9k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Ford: Initial support for LCA vehicles #23331
Conversation
I don't have stock LCA in my Ford since it's a manual-transmission and I haven't found a workaround to make it work using the As-Built Data yet (the LCA and TJA features are set with the same bit flag, which makes the IPMA fault when I enable it). My IPMA does output the Alternatively, another community member has an Escape with LCA (who provided me with a route so that I could see the CAN data). Perhaps we could port the Escape too as both a stock LCA and OP route could be provided and compared. |
0aa0edb
to
ae180d7
Compare
1d4009d
to
95dae6c
Compare
f8c863c
to
979692e
Compare
I've just rebased this branch on the latest master commit. I will continue to look at tuning when I next have free time, just it is hard to record a "drive" because the tuning is so poor at the moment I cannot let it steer for long periods, I don't know if there would be much value in sharing more drives yet. Guidances for next steps would be appreciated! |
cd4c00d
to
0e06b79
Compare
What kind of guidance are you looking for exactly? Tuning, getting this merged? |
0e06b79
to
c8696e4
Compare
I should have been more specific 😅 I'm just racking my brains trying to figure out why this isn't steering as expected. Got some help in the #tuning channel though, and I'm going to experiment to see if the car is actually torque based and not angle based... Will be testing on another branch later! I thought it would have been angle based because the LKA method (and I've been told the park assist method too) are angle based. It would be odd that the leaked DBC would be wrong about this... But the plotjuggler chart seems to show that the desired steering angle/sendcan angle is almost the derivative of the actual steering angle. |
f4fd9de
to
e227d34
Compare
Pinning the |
edfb218
to
006c5ff
Compare
Also removes support for the Ford Fusion.
60c58ef
to
f77cb0e
Compare
Nice job @incognitojam! Seems we'll be able to support quite a few existing Fords as well as the new Blue Cruise platform with this port. Here's the next steps:
We can also review and merge the matching panda safety #812 once it's ready, though it'll stay behind the debug panda flag until we get a Ford again and verify it. We'll be ready to invest more time into this once the whole port is working well on a car from the factory. |
f77cb0e
to
cb9be4a
Compare
* Ford: add Focus Mk4 Also removes support for the Ford Fusion. * Ford: LKAS/LCA steering and UI CAN commands * Ford: implement CarController w/ steering and lanes ui * Ford: FPv2 firmware request * Ford: Add FW for 2018 Ford Focus * Ford: add Escape Mk4 * bump panda * cleanup * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Ford: add Focus Mk4 Also removes support for the Ford Fusion. * Ford: LKAS/LCA steering and UI CAN commands * Ford: implement CarController w/ steering and lanes ui * Ford: FPv2 firmware request * Ford: Add FW for 2018 Ford Focus * Ford: add Escape Mk4 * bump panda * cleanup * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Ford: add Focus Mk4 Also removes support for the Ford Fusion. * Ford: LKAS/LCA steering and UI CAN commands * Ford: implement CarController w/ steering and lanes ui * Ford: FPv2 firmware request * Ford: Add FW for 2018 Ford Focus * Ford: add Escape Mk4 * bump panda * cleanup * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* Ford: add Focus Mk4 Also removes support for the Ford Fusion. * Ford: LKAS/LCA steering and UI CAN commands * Ford: implement CarController w/ steering and lanes ui * Ford: FPv2 firmware request * Ford: Add FW for 2018 Ford Focus * Ford: add Escape Mk4 * bump panda * cleanup * add that back Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This PR adds support for the Focus Mk4 (EU) and Escape Mk4 using the Lane Centering function.
I am using a manual-transmission Ford Focus 2018 with stock CC and LKA (retrofitted ACC - radar seems to be factory fitted in the UK, perhaps for pre-collision assist, but ACC can be enabled using Forscan).
Thanks to Rikka, Desta, 360a and everyone else in the #ford channel for providing code, ideas and help with this. Thanks to @jyoung8607 for review and help getting this to work!
Checklist
Related PRs:
Documentation
Steering commands
We can command the Power Steering Control Module (PSCM) to steer the car using the
LateralMotionControl
message, from Ford's Lane Centering Assist (LCA) / Traffic Jam Assist (TJA) feature. This gives us curvature-based control.All cars which have LCA/TJA as an option should have a compatible PSCM fitted, and vehicles owners who didn't buy the optio from Ford should be able to enable it by changing the LCA/TJA enable bit in the PSCM As-Built Data.
From short testing so far, the
Lane_Assist_Data1
message must be sent alongside the LCA message for the PSCM to behave. This command is used by the stock system for the "Lane Keep Aid/Assist" (LKA) feature, which corrects the steering wheel when the car drifts out of the lane, but does not keep the car centered. This was the old method of commanding steering, but was subject to the 10s lockout on almost all vehicles.Initially it was believed that
LateralMotionControl2
was used for LCA, as it has some interesting signals and checksums and counters, but then we found that we could useLateralMotionControl
. As of yet, we don't know whatLateralMotionControl2
is used for. It is not sent on the vehicles we have tested so far. Perhaps it is used for Blue Cruise.We can steer down to 0mph (it is not linked to the cruise control state), although the cruise control min engage speed and disengage speed varies depending on transmission and stop-and-go.
Curvature Control
LCA is a "curvature" based control method. The Image Processing Module A (IPMA) in the vehicle writes a message describing the vehicle's current position in a lane and the lane's properties (e.g. curvature) to the CAN bus, and then the PSCM integrates this information with other data (e.g. vehicle yaw) to actuate the steering wheel to the correct position.
To achieve Lateral Control with openpilot, we can take some values from the lateral plan to estimate the lane curvature and path offset. Doing this gives adequate results, even without writing path angle and curvature rate. However, I think lane angle and curvature rate might be able to get us even better control out of the PSCM.
The signals for ramp speed and precision may be worth experimenting with when considering tuning/rate limits.
Longitudinal Control
Although not approached in this PR, I believe we will be able to implement longitudinal control quite easily in the future. As the Cruise Control Module (C-CM, the radar) is on a private bus with the IPMA, it is the IPMA which is responsible for calculating and sending ACC commands. We can also intercept these with the same harness. We may even be able to provide ACC for vehicles without a radar, with a few coding changes.