EU guidlines angle limits for E8x

board/safety/safety_bmw.h

@@ -66,9 +66,10 @@ float BMW_MARGIN = 0.1;
 
 #define BMW_LAT_ACC_MAX 3.0 // EU guideline
 
+// steering angle based on EU 3m/s2 lat acc limit for 2.66m wheelbase and 12.5 steer ratio
 const struct lookup_t BMW_LOOKUP_MAX_ANGLE = {
-    {5., 15., 30.},     // m/s
-    {200., 20., 10.}};  // deg
+    {5., 15., 25.},     // m/s
+    {228.6, 25.4, 9.1}};  // deg
 
 
 const struct lookup_t BMW_ANGLE_RATE_WINDUP = { // deg/s windup rate limit

tests/safety/test_bmw.py

@@ -9,10 +9,10 @@
 MS_TO_KPH = 3.6
 SAMPLING_FREQ = 100 #Hz
 
-ANGLE_MAX_BP = [5., 15., 30]  #m/s
-ANGLE_MAX = [200., 20., 10.]  #deg
+ANGLE_MAX_BP = [5., 15., 25.]  #m/s
+ANGLE_MAX = [228.6, 42.3, 15.2]  #deg
 
-ANGLE_RATE_BP = [0., 5., 15.]      # m/s
+ANGLE_RATE_BP = [0., 5., 25.]      # m/s
 ANGLE_RATE_WINDUP = [500., 80., 15.]     #deg/s windup rate limit
 ANGLE_RATE_UNWIND = [500., 350., 40.]  #deg/s unwind rate limit
 
@@ -43,7 +43,7 @@ def sign(a):
     return -1
 
 
-  
+
 class TestBmwSafety(unittest.TestCase):
   def setUp(self):
     self.safety = libpanda_py.libpanda
@@ -52,7 +52,7 @@ def setUp(self):
 
   def _angle_meas_msg(self, angle, angle_rate):
     to_send = make_msg(0, 0xc4, 7)
-    
+
     angle_int = int(angle / CAN_BMW_ANGLE_FAC)
     angle_t = twos_comp(angle_int, 16) # signed
 
@@ -70,22 +70,22 @@ def _set_prev_angle(self, t):
 
 
   def _actuator_angle_cmd_msg(self, mode, torque_req, angle_delta):
-    
+
     to_send = make_msg(2, 558)
 
     cnt = 0
 
     steer_angle = int(twos_comp(angle_delta / CAN_ACTUATOR_POS_FAC, 16)) # signed angle_delta
     steer_tq = int(twos_comp(torque_req / CAN_ACTUATOR_TQ_FAC, 11))
-        
+
     checksum = (cnt + mode + steer_angle + steer_tq)
     checksum = checksum >> 8 + checksum & 0xFF
     checksum = checksum & 0xFF
 
     to_send[0].RDLR = (checksum & 0xFF) | ((cnt & 0xF) << 8) | ((mode & 0x3) << 12) | ((steer_angle & 0xFFFF) << 16)
     to_send[0].RDHR = (steer_tq & 0xFF) << 0
     return to_send
-    
+
 
   def _speed_msg(self, speed):
     to_send = make_msg(0, 0x1a0)
@@ -109,7 +109,7 @@ def _cruise_button_msg(self, buttons_bitwise): #todo: read creuisesate
     else:
       request_0xF = 0x0
 
-    if (buttons_bitwise & (1<<7 | 1<<4)): #if any cancel pressed 
+    if (buttons_bitwise & (1<<7 | 1<<4)): #if any cancel pressed
       notCancel = 0x0
     else:
       notCancel = 0xF
@@ -130,8 +130,8 @@ def test_angle_cmd_when_enabled(self): #todo add faulty BMW angle sensor (step a
 
       self.safety.set_controls_allowed(1)
       self.assertTrue(self.safety.get_controls_allowed())
-      self.safety.safety_rx_hook(self._speed_msg(s)) #receive speed which triggers angle limits to be updated to be later used by tx 
-      
+      self.safety.safety_rx_hook(self._speed_msg(s)) #receive speed which triggers angle limits to be updated to be later used by tx
+
       # Stay within limits
       # Up
       self.safety.safety_rx_hook(self._angle_meas_msg(max_angle, max_delta_up))
@@ -155,13 +155,13 @@ def test_angle_cmd_when_enabled(self): #todo add faulty BMW angle sensor (step a
       self.assertTrue(self.safety.get_controls_allowed())
       self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
       self.assertTrue(self.safety.get_controls_allowed())
-      
+
       # Up
       # # Inject too large measured angle
       self.safety.set_controls_allowed(1)
       self.safety.safety_rx_hook(self._angle_meas_msg(max_angle+1, max_delta_up))
       self.assertFalse(self.safety.get_controls_allowed())
-      
+
       # Reset to 0 angle
       self.safety.set_controls_allowed(1)
       self.assertTrue(self.safety.get_controls_allowed())
@@ -174,13 +174,13 @@ def test_angle_cmd_when_enabled(self): #todo add faulty BMW angle sensor (step a
       self.safety.safety_rx_hook(self._angle_meas_msg(max_angle, max_delta_up+1))
       self.assertFalse(self.safety.get_controls_allowed(),\
           'Speed: %f, Angle: %f, Delta: %f' % (s, max_angle, max_delta_down))
-      
+
       # Reset to 0 angle
       self.safety.set_controls_allowed(1)
       self.assertTrue(self.safety.get_controls_allowed())
       self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
       self.assertTrue(self.safety.get_controls_allowed())
-      
+
       # Up
       # Inject too high command angle rate - since last angle value is 0, sending angle value represents angle rate
       self.safety.set_controls_allowed(1)
@@ -199,13 +199,13 @@ def test_angle_cmd_when_enabled(self): #todo add faulty BMW angle sensor (step a
       self.assertEqual(1, self.safety.safety_tx_hook(self._actuator_angle_cmd_msg(MODE_OFF, 0, 0)))
       self.assertTrue(self.safety.get_controls_allowed())
 
-      
+
       # Down
       # Inject too large measured angle
       self.safety.set_controls_allowed(1)
       self.safety.safety_rx_hook(self._angle_meas_msg(-max_angle-1, -max_delta_down))
       self.assertFalse(self.safety.get_controls_allowed())
-      
+
       # Reset to 0 angle
       self.safety.set_controls_allowed(1)
       self.assertTrue(self.safety.get_controls_allowed())
@@ -246,16 +246,16 @@ def test_brake_disengage(self):
     self.safety.set_controls_allowed(1)
     self.safety.safety_rx_hook(self._brake_msg(0))
     self.assertTrue(self.safety.get_controls_allowed())
-    
-    
+
+
     self.safety.safety_rx_hook(self._speed_msg(10)) #ALLOW_DEBUG keeps the actuator active even at 0 speed
     self.safety.safety_rx_hook(self._brake_msg(1))
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_cruise_buttons(self):
     self.safety.set_controls_allowed(1)
     self.assertTrue(self.safety.get_controls_allowed())
-    
+
     self.safety.safety_rx_hook(self._cruise_button_msg(0x0)) # No button pressed
     self.assertTrue(self.safety.get_controls_allowed())