Hyundai-Kia-Genesis (HKG)

README.md

@@ -132,15 +132,23 @@ Community Maintained Cars and Features
 | Chrysler  | Pacifica 2020                 | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Chrysler  | Pacifica Hybrid 2017-18       | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Chrysler  | Pacifica Hybrid 2019-20       | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Genesis   | G80 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
+| Genesis   | G90 2018<sup>2</sup>          | All               | Stock            | 0mph               | 0mph         |
 | GMC       | Acadia Denali 2018<sup>3</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 34mph        |
-| Hyundai   | Genesis 2018<sup>2</sup>      | All               | Stock            | 19mph              | 34mph        |
+| Hyundai   | Genesis 2015-16<sup>2</sup>   | SCC + LKAS        | Stock            | 19mph              | 37mph        |
+| Hyundai   | Ioniq 2017<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Ioniq 2019 EV<sup>2</sup>     | SCC + LKAS        | Stock            | 0mph               | 32mph        |
+| Hyundai   | Kona 2017-19<sup>2</sup>      | SCC + LKAS        | Stock            | 22mph              | 0mph         |
+| Hyundai   | Kona 2019 EV<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Hyundai   | Santa Fe 2019<sup>2</sup>     | All               | Stock            | 0mph               | 0mph         |
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019           | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
+| Kia       | Forte 2018<sup>2</sup>        | SCC + LKAS        | Stock            | 0mph               | 0mph         |
+| Kia       | Optima 2017<sup>2</sup>       | SCC + LKAS/LDWS   | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019<sup>2</sup>       | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Sorento 2018<sup>2</sup>      | All               | Stock            | 0mph               | 0mph         |
+| Kia       | Sorento 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Stinger 2018<sup>2</sup>      | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Nissan    | Leaf 2019                     | Propilot          | Stock            | 0mph               | 0mph         |
 | Nissan    | X-Trail 2018                  | Propilot          | Stock            | 0mph               | 0mph         |

RELEASES.md

@@ -1,9 +1,9 @@
 Version 0.7.5 (2020-xx-xx)
 ========================
 * Right-Hand Drive support for both driving and driver monitoring!
-* New driving model: 
 * New driver monitoring model: overall improvement on comma two
 * Driver camera preview in settings to improve mounting position
+* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
 * 2019 Nissan X-Trail and 2018 Nissan Leaf support thanks to avolmensky!
 
 Version 0.7.4 (2020-03-20)

selfdrive/car/hyundai/carcontroller.py

@@ -1,47 +1,103 @@
+from cereal import car
 from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
-from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
+from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
+from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
 from opendbc.can.packer import CANPacker
 
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
+                      right_lane, left_lane_depart, right_lane_depart):
+  sys_warning = (visual_alert == VisualAlert.steerRequired)
+
+  # initialize to no line visible
+  sys_state = 1
+  if left_lane and right_lane or sys_warning:  #HUD alert only display when LKAS status is active
+    if enabled or sys_warning:
+      sys_state = 3
+    else:
+      sys_state = 4
+  elif left_lane:
+    sys_state = 5
+  elif right_lane:
+    sys_state = 6
+
+  # initialize to no warnings
+  left_lane_warning = 0
+  right_lane_warning = 0
+  if left_lane_depart:
+    left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+  if right_lane_depart:
+    right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+
+  return sys_warning, sys_state, left_lane_warning, right_lane_warning
+
 
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
-    self.lkas11_cnt = 0
-    self.cnt = 0
-    self.last_resume_cnt = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
+    self.resume_cnt = 0
+    self.last_resume_frame = 0
+    self.last_lead_distance = 0
 
-  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
-
-    ### Steering Torque
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
+             left_lane, right_lane, left_lane_depart, right_lane_depart):
+    # Steering Torque
     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
     self.steer_rate_limited = new_steer != apply_steer
 
-    if not enabled:
-      apply_steer = 0
+    # disable if steer angle reach 90 deg, otherwise mdps fault in some models
+    lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
+
+    # fix for Genesis hard fault at low speed
+    if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
+      lkas_active = 0
 
-    steer_req = 1 if enabled else 0
+    if not lkas_active:
+      apply_steer = 0
 
     self.apply_steer_last = apply_steer
 
+    sys_warning, sys_state, left_lane_warning, right_lane_warning =\
+      process_hud_alert(enabled, self.car_fingerprint, visual_alert,
+                        left_lane, right_lane, left_lane_depart, right_lane_depart)
+
     can_sends = []
+    can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
+                                   CS.lkas11, sys_warning, sys_state, enabled,
+                                   left_lane, right_lane,
+                                   left_lane_warning, right_lane_warning))
 
-    self.lkas11_cnt = self.cnt % 0x10
-    self.clu11_cnt = self.cnt % 0x10
+    if pcm_cancel_cmd:
+      can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
 
-    can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
-                                   enabled, CS.lkas11, hud_alert, keep_stock=True))
+    elif CS.out.cruiseState.standstill:
+      # run only first time when the car stopped
+      if self.last_lead_distance == 0:
+        # get the lead distance from the Radar
+        self.last_lead_distance = CS.lead_distance
+        self.resume_cnt = 0
+      # when lead car starts moving, create 6 RES msgs
+      elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5:
+        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
+        self.resume_cnt += 1
+        # interval after 6 msgs
+        if self.resume_cnt > 5:
+          self.last_resume_frame = frame
+          self.clu11_cnt = 0
+    # reset lead distnce after the car starts moving
+    elif self.last_lead_distance != 0:
+      self.last_lead_distance = 0
 
-    if pcm_cancel_cmd:
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
-    elif CS.out.cruiseState.standstill and (self.cnt - self.last_resume_cnt) > 5:
-      self.last_resume_cnt = self.cnt
-      can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
 
-    self.cnt += 1
+    # 20 Hz LFA MFA message
+    if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA:
+      can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
+
 
     return can_sends