diff --git a/opendbc/car/tesla/preap/carcontroller.py b/opendbc/car/tesla/preap/carcontroller.py index 5f7b2bc4adc..ce5126d1ac4 100644 --- a/opendbc/car/tesla/preap/carcontroller.py +++ b/opendbc/car/tesla/preap/carcontroller.py @@ -4,7 +4,7 @@ from opendbc.can import CANPacker from opendbc.car import Bus -from opendbc.car.tesla.preap.nap_conf import nap_conf, PEDAL_DI_MIN +from opendbc.car.tesla.preap.nap_conf import nap_conf from opendbc.car.tesla.preap.interface import get_preap_accel_limits from opendbc.car.tesla.pedal.controller import get_zero_torque, PEDAL_RAMP_RATE_UP from opendbc.car.tesla.preap.virtual_das import VirtualDAS @@ -26,29 +26,39 @@ def init_preap_can(dbc_names, packers): ENGAGE_GRACE_FRAMES = 50 # 0.5s at 100Hz ENGAGE_GRACE_PEDAL_RAMP_RATE_UP = 0.9 # DI/update at 50Hz -# The pedal controller updates at 50 Hz. Only prompt after the regen rail has -# been near its physical limit while measured deceleration trails the shaped -# request for a sustained interval. Trigger and clear thresholds are separated -# so ordinary acceleration-estimate noise cannot chatter a driver prompt. -REGEN_DECEL_PROMPT_DWELL_UPDATES = 25 # 0.5s at 50Hz +# The pedal controller updates at 50 Hz. Prompt when a sustained deceleration +# request is not being delivered while the command sits deep in the regen +# range. Available regen varies with SOC and battery temperature, so proximity +# to the DI rail is not a reliable "at the limit" signal: on a full battery the +# rail delivers a fraction of nominal regen, and the integrator only reaches it +# near the end of an under-delivery event. Field capture (2026-07-22, minutes +# after supercharging) showed the command within 0.5 DI of the rail for just +# 0.3 s of a multi-second under-delivery, so a rail gate plus a consecutive +# dwell can never complete. Evidence instead accumulates in a saturating +# up/down counter, which also rides through single-update shortfall noise. +# Trigger and clear thresholds are separated so the visible prompt cannot +# chatter. +REGEN_DECEL_PROMPT_DWELL_UPDATES = 40 # 0.8s of net evidence at 50Hz REGEN_DECEL_PROMPT_MIN_SPEED = 2.0 # m/s; do not prompt for a stopped/settling car REGEN_DECEL_PROMPT_CLEAR_SPEED = 1.0 # m/s -REGEN_DECEL_SHORTFALL_TRIGGER = 0.4 # m/s² -REGEN_DECEL_SHORTFALL_CLEAR = 0.2 # m/s² -REGEN_LIMIT_TRIGGER_DI = PEDAL_DI_MIN + 0.5 -REGEN_LIMIT_CLEAR_DI = PEDAL_DI_MIN + 1.0 +REGEN_DECEL_SHORTFALL_TRIGGER = 0.35 # m/s² +REGEN_DECEL_SHORTFALL_CLEAR = 0.15 # m/s² +REGEN_COMMAND_TRIGGER_DI = -2.0 # command deep in the regen range +REGEN_COMMAND_CLEAR_DI = -1.0 +REGEN_DECEL_REQUEST_TRIGGER = -0.5 # m/s²; a meaningful deceleration request +REGEN_DECEL_REQUEST_CLEAR = -0.2 # m/s² class RegenDecelMonitor: - """Detect when the regen rail cannot deliver the requested deceleration.""" + """Detect when the regen path cannot deliver the requested deceleration.""" def __init__(self): self.active = False - self.under_delivery_updates = 0 + self.evidence_updates = 0 def reset(self): self.active = False - self.under_delivery_updates = 0 + self.evidence_updates = 0 def update(self, *, pedal_control_active, in_engage_grace, pedal_di, limited_accel, actual_accel, v_ego): @@ -65,7 +75,8 @@ def update(self, *, pedal_control_active, in_engage_grace, pedal_di, keep_prompting = ( monitoring_allowed and v_ego > REGEN_DECEL_PROMPT_CLEAR_SPEED - and pedal_di <= REGEN_LIMIT_CLEAR_DI + and pedal_di <= REGEN_COMMAND_CLEAR_DI + and limited_accel <= REGEN_DECEL_REQUEST_CLEAR and decel_shortfall > REGEN_DECEL_SHORTFALL_CLEAR ) if not keep_prompting: @@ -75,11 +86,15 @@ def update(self, *, pedal_control_active, in_engage_grace, pedal_di, under_delivering = ( monitoring_allowed and v_ego >= REGEN_DECEL_PROMPT_MIN_SPEED - and pedal_di <= REGEN_LIMIT_TRIGGER_DI + and pedal_di <= REGEN_COMMAND_TRIGGER_DI + and limited_accel <= REGEN_DECEL_REQUEST_TRIGGER and decel_shortfall >= REGEN_DECEL_SHORTFALL_TRIGGER ) - self.under_delivery_updates = self.under_delivery_updates + 1 if under_delivering else 0 - self.active = self.under_delivery_updates >= REGEN_DECEL_PROMPT_DWELL_UPDATES + if under_delivering: + self.evidence_updates = min(self.evidence_updates + 1, REGEN_DECEL_PROMPT_DWELL_UPDATES) + else: + self.evidence_updates = max(self.evidence_updates - 1, 0) + self.active = self.evidence_updates >= REGEN_DECEL_PROMPT_DWELL_UPDATES return self.active diff --git a/opendbc/car/tesla/preap/tests/data/grade_decel_positive_di_50hz.json b/opendbc/car/tesla/preap/tests/data/grade_decel_positive_di_50hz.json new file mode 100644 index 00000000000..f6d2bcedeb0 --- /dev/null +++ b/opendbc/car/tesla/preap/tests/data/grade_decel_positive_di_50hz.json @@ -0,0 +1 @@ +{"columns": ["v_ego", "a_ego", "limited_accel", "pedal_di", "brake_pressed", "gas_pressed", "pedal_long_active"], "rate_hz": 50, "samples": 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a/opendbc/car/tesla/preap/tests/data/regen_underdelivery_50hz.json b/opendbc/car/tesla/preap/tests/data/regen_underdelivery_50hz.json new file mode 100644 index 00000000000..fcbdcab34d4 --- /dev/null +++ b/opendbc/car/tesla/preap/tests/data/regen_underdelivery_50hz.json @@ -0,0 +1 @@ +{"columns": ["v_ego", "a_ego", "limited_accel", "pedal_di", "brake_pressed", "gas_pressed", "pedal_long_active"], "rate_hz": 50, "samples": [[21.184, 0.596, 0.594, 18.28, 0, 0, 1], [21.195, 0.591, 0.596, 18.284, 0, 0, 1], [21.209, 0.614, 0.596, 18.241, 0, 0, 1], [21.219, 0.593, 0.596, 18.199, 0, 0, 1], [21.236, 0.634, 0.597, 18.18, 0, 0, 1], [21.247, 0.625, 0.597, 18.133, 0, 0, 1], [21.261, 0.636, 0.598, 18.121, 0, 0, 1], [21.275, 0.651, 0.598, 18.072, 0, 0, 1], [21.29, 0.665, 0.598, 18.026, 0, 0, 1], [21.308, 0.707, 0.597, 17.968, 0, 0, 1], [21.32, 0.691, 0.597, 17.918, 0, 0, 1], [21.326, 0.618, 0.597, 17.857, 0, 0, 1], [21.346, 0.691, 0.597, 17.827, 0, 0, 1], [21.367, 0.751, 0.597, 17.787, 0, 0, 1], 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0.176, 7.235, 0, 0, 1], [16.722, -0.28, 0.18, 7.358, 0, 0, 1], [16.719, -0.26, 0.182, 7.452, 0, 0, 1], [16.714, -0.253, 0.186, 7.623, 0, 0, 1], [16.704, -0.306, 0.189, 7.779, 0, 0, 1], [16.688, -0.388, 0.194, 7.977, 0, 0, 1], [16.677, -0.422, 0.198, 8.198, 0, 0, 1], [16.669, -0.421, 0.2, 8.386, 0, 0, 1], [16.663, -0.394, 0.204, 8.656, 0, 0, 1], [16.657, -0.379, 0.208, 8.898, 0, 0, 1], [16.65, -0.368, 0.213, 9.17, 0, 0, 1], [16.643, -0.366, 0.217, 9.414, 0, 0, 1], [16.634, -0.388, 0.219, 9.609, 0, 0, 1], [16.625, -0.4, 0.223, 9.865, 0, 0, 1], [16.618, -0.384, 0.227, 10.096, 0, 0, 1], [16.615, -0.349, 0.232, 10.361, 0, 0, 1], [16.61, -0.331, 0.236, 10.575, 0, 0, 1], [16.602, -0.344, 0.239, 10.737, 0, 0, 1], [16.591, -0.38, 0.243, 10.939, 0, 0, 1], [16.581, -0.405, 0.247, 11.129, 0, 0, 1]]} \ No newline at end of file diff --git a/opendbc/car/tesla/preap/tests/test_pedal_authority.py b/opendbc/car/tesla/preap/tests/test_pedal_authority.py index 81542e4de14..f31c860052c 100644 --- a/opendbc/car/tesla/preap/tests/test_pedal_authority.py +++ b/opendbc/car/tesla/preap/tests/test_pedal_authority.py @@ -1,3 +1,5 @@ +import json +from pathlib import Path from types import SimpleNamespace import pytest @@ -846,3 +848,69 @@ def test_regen_prompt_clears_as_soon_as_pedal_control_releases(): assert monitor.active assert not _update_regen_monitor(monitor, pedal_control_active=False) + + +def test_regen_prompt_survives_brief_shortfall_dropouts(): + # Acceleration-estimate noise dips the shortfall below the trigger for a + # single update every so often. Accumulated evidence must survive those + # dropouts instead of restarting from zero. + monitor = RegenDecelMonitor() + fired = False + for _ in range(3 * REGEN_DECEL_PROMPT_DWELL_UPDATES): + for _ in range(9): + fired = _update_regen_monitor(monitor) or fired + # shortfall 0.3 m/s²: below the trigger, above the clear threshold + fired = _update_regen_monitor(monitor, actual_accel=-1.2) or fired + if fired: + break + assert fired + + +def test_regen_prompt_requires_deep_regen_command(): + # A command still in the shallow-regen range has authority left; the + # driver does not need the brake yet. + monitor = RegenDecelMonitor() + for _ in range(3 * REGEN_DECEL_PROMPT_DWELL_UPDATES): + assert not _update_regen_monitor(monitor, pedal_di=-1.5) + + +def _replay_fixture(name): + with open(Path(__file__).parent / 'data' / name) as f: + return json.load(f)['samples'] + + +def _replay_monitor(samples): + # Drive the monitor the way PreAPLongController wires it: driver pedal + # input or authority loss resets, everything else goes through update(). + monitor = RegenDecelMonitor() + first_active = None + for i, (v_ego, a_ego, limited_accel, pedal_di, brake, gas, long_active) in enumerate(samples): + if not long_active or brake or gas: + monitor.reset() + continue + active = monitor.update( + pedal_control_active=True, + in_engage_grace=False, + pedal_di=pedal_di, + limited_accel=limited_accel, + actual_accel=a_ego, + v_ego=v_ego, + ) + if active and first_active is None: + first_active = i + return first_active + + +def test_regen_prompt_fires_on_captured_weak_regen_drive(): + # 2026-07-22 field capture, minutes after supercharging: regen delivered + # only -0.3 m/s² of a ~-1.0 m/s² request for several seconds while the + # command walked down to the regen rail and the driver never braked. + samples = _replay_fixture('regen_underdelivery_50hz.json') + assert _replay_monitor(samples) is not None + + +def test_regen_prompt_stays_silent_on_captured_grade_decel(): + # Same drive, mountain uphill: deceleration requests are delivered through + # grade compensation with the pedal still in the propulsion range. + samples = _replay_fixture('grade_decel_positive_di_50hz.json') + assert _replay_monitor(samples) is None