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HKG: Car Port for Kia Sportage Plug-in Hybrid 2023 #30575

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HKG: Car Port for Kia Sportage Plug-in Hybrid 2023 #30575

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0b9f49f
HKG: Car Port for Kia Sportage Plug-in Hybrid 2023
sunnyhaibin Dec 2, 2023
e83a728
Merge remote-tracking branch 'commaai/openpilot/master' into kia-spor…
sunnyhaibin Dec 8, 2023
7dd32cd
Update CARS.md
sunnyhaibin Dec 8, 2023
42a8a6d
this car does SCC from camera
sunnyhaibin Dec 8, 2023
1919073
Merge remote-tracking branch 'upstream/master' into kia-sportage-phev…
sshane Dec 11, 2023
d570111
Update selfdrive/car/hyundai/interface.py
sshane Dec 12, 2023
093062f
Update selfdrive/car/hyundai/interface.py
sshane Dec 12, 2023
94da90c
Merge remote-tracking branch 'upstream/master' into kia-sportage-phev…
sshane Dec 13, 2023
2b5bc8c
ordering, add test route
sshane Dec 13, 2023
9614015
docs
sshane Dec 13, 2023
6076160
add to releases
sshane Dec 13, 2023
91c18f0
Merge remote-tracking branch 'upstream/master' into kia-sportage-phev…
sshane Dec 13, 2023
6d7f5e7
docs
sshane Dec 13, 2023
e8bc7e8
Merge remote-tracking branch 'upstream/master' into kia-sportage-phev…
sshane Dec 20, 2023
d44e81c
less torque
sshane Dec 20, 2023
4366007
Merge remote-tracking branch 'commaai/openpilot/master' into kia-spor…
sunnyhaibin Jun 17, 2024
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1 change: 1 addition & 0 deletions RELEASES.md
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Expand Up @@ -6,6 +6,7 @@ Version 0.9.6 (2023-12-14)
* AGNOS 9
* comma body streaming and controls over WebRTC
* Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Kia Sportage Plug-in Hybrid 2023 support thanks to sunnyhaibin!
* Toyota RAV4 2023 support
* Toyota RAV4 Hybrid 2023 support

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3 changes: 2 additions & 1 deletion docs/CARS.md
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Expand Up @@ -4,7 +4,7 @@

A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

# 272 Supported Cars
# 273 Supported Cars

|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
Expand Down Expand Up @@ -147,6 +147,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Sportage Plug-in Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Sportage Plug-in Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<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=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
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4 changes: 2 additions & 2 deletions selfdrive/car/hyundai/interface.py
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Expand Up @@ -202,8 +202,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.wheelbase = 2.9
ret.steerRatio = 16.
ret.tireStiffnessFactor = 0.65
elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
ret.mass = 1767. # SX Prestige trim support only
elif candidate in (CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SPORTAGE_PHEV_5TH_GEN):
ret.mass = {CAR.KIA_SPORTAGE_PHEV_5TH_GEN: 1923., }.get(candidate, 1767.)
ret.wheelbase = 2.756
ret.steerRatio = 13.6
elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
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16 changes: 14 additions & 2 deletions selfdrive/car/hyundai/values.py
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Expand Up @@ -126,6 +126,7 @@ class CAR(StrEnum):
KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_SPORTAGE_PHEV_5TH_GEN = "KIA SPORTAGE PLUG-IN HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_STINGER_2022 = "KIA STINGER 2022"
KIA_CEED = "KIA CEED INTRO ED 2019"
Expand Down Expand Up @@ -271,6 +272,7 @@ def init_make(self, CP: car.CarParams):
CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_SPORTAGE_PHEV_5TH_GEN: HyundaiCarInfo("Kia Sportage Plug-in Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c])),
CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
Expand Down Expand Up @@ -2022,6 +2024,14 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
],
},
CAR.KIA_SPORTAGE_PHEV_5TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.01 99211-P1060 680',
],
},
CAR.SANTA_CRUZ_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
Expand Down Expand Up @@ -2146,7 +2156,8 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
CAR.KIA_SPORTAGE_PHEV_5TH_GEN}

# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
Expand All @@ -2164,7 +2175,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}
CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022, CAR.KIA_SPORTAGE_PHEV_5TH_GEN}

EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
Expand Down Expand Up @@ -2235,6 +2246,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_PHEV_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
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1 change: 1 addition & 0 deletions selfdrive/car/tests/routes.py
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Expand Up @@ -116,6 +116,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
CarTestRoute("428412ad82894ba3|2023-12-09--17-01-47", HYUNDAI.KIA_SPORTAGE_PHEV_5TH_GEN, segment=8),
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can you put your device on WiFi and upload a short 10 minute route with some engagement? Then we can merge!

@sshane I see you've added 428412ad82894ba3|2023-12-09--17-01-47 segment 8 for testing. Would you still like a different route? I can upload another shorter route in the next 2 days if that is helpful

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@sshane sshane Dec 13, 2023 •
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That's fine, but can you get a route where you test the torque/max lateral acceleration it will apply?

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can you get a route where you test the torque/max lateral acceleration it will apply

Next time I'm near highway, I will try the highway interchange or exit suggestion to get the out of torque warning.

In the meantime, in the 428412ad82894ba3|2023-12-17--17-23-36--6 route at 17:28:13 – 4, the road took a sharp turn and the OpenPilot oversteered. Not sure if this was due to poor visibility at night with rain and oncoming headlights though.

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Can you pull and try again? It should not be oversteering as it was.

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Can you pull and try again?

What's been holding me up is that even though the C3X is configured to use the kia-sportage-phev-2023-port branch, it doesn't find the latest commit even when I manually push check. It still says "up to date" but shows a stale commit 42a8a6d as the current version.

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@dhimmel dhimmel Dec 29, 2023 •
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it doesn't find the latest commit even when I manually push check

Ah I think I understand the issue. I think my comma is checking the commaai/openpilot:kia-sportage-phev-2023-port branch rather than the sunnyhaibin/openpilot-1:kia-sportage-phev-2023-port branch.

I will install from my fork that I sync and report back using https://smiskol.com/fork/dhimmel/kia-sportage-phev-2023-port

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Can you pull and try again? It should not be oversteering as it was.

Okay, here are logs based on d44e81c: 428412ad82894ba3|2023-12-30--13-15-10--8 and route. I didn't reach max lateral torque on this route, so let me know if we need to capture a highway exit.

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@sshane tagging for re-review with the the latest logs in this thread.

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My experience has been that it still oversteers slightly on long curves. Installed from your fork

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@dhimmel dhimmel Feb 18, 2024 •
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Okay, so @xtian and I find that there is a bit of oversteering on sharp turns with the 2023 Kia Sportage PHEV as of d44e81c.

@Wafflezzbutt reports the same on the 2024 Kia Sportage PHEV (with additional fingerprints added).

I do feel like it overcorrects sometimes. It seems to "lean left" especially around turns, and then over correct back

So @sshane / @sunnyhaibin my questions are:

  1. is the oversteering issue also present with Hybrid and Gas models of the Kia Sportage 2023+? If so I wonder if the best approach is to merge and then fix all models.
  2. Independent of 1, how do we go about fixing the oversteeting?

CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
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1 change: 1 addition & 0 deletions selfdrive/car/torque_data/override.yaml
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Expand Up @@ -65,6 +65,7 @@ HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1]
KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1]
HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1]
LEXUS GS F 2016: [2.5, 2.5, 0.08]
KIA SPORTAGE PLUG-IN HYBRID 5TH GEN: [2.5, 2.5, 0.1]

# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
Expand Down
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