Remove Hyundai Ioniq EV LTD 2019 from 255 steering limit - #3704
Conversation
Car behavior reportReplays driving segments through this PR and compares the behavior to master. Testing 260 segments for: HYUNDAI_AZERA_HEV_6TH_GEN, HYUNDAI_ELANTRA_GT_I30, HYUNDAI_ELANTRA_2021, HYUNDAI_ELANTRA_HEV_2021, HYUNDAI_GENESIS, HYUNDAI_IONIQ, HYUNDAI_IONIQ_HEV_2022, HYUNDAI_IONIQ_EV_2020, HYUNDAI_IONIQ_PHEV_2019, HYUNDAI_IONIQ_PHEV, HYUNDAI_KONA_2022, HYUNDAI_KONA_EV, HYUNDAI_KONA_EV_2022, HYUNDAI_KONA_EV_2ND_GEN, HYUNDAI_SANTA_FE, HYUNDAI_SANTA_FE_2022, HYUNDAI_SANTA_FE_HEV_2022, HYUNDAI_SANTA_FE_PHEV_2022, HYUNDAI_SONATA, HYUNDAI_SONATA_LF, HYUNDAI_STARIA_4TH_GEN, HYUNDAI_PALISADE, HYUNDAI_SONATA_HYBRID, HYUNDAI_IONIQ_5, HYUNDAI_IONIQ_6, HYUNDAI_TUCSON_4TH_GEN, HYUNDAI_SANTA_CRUZ_1ST_GEN, HYUNDAI_CUSTIN_1ST_GEN ✅ 0 changed, 260 passed, 0 errors |
### Summary Removes `CAR.HYUNDAI_IONIQ_EV_LTD` (2019 Hyundai Ioniq Electric Limited) from the 255-torque clamp in `CarControllerParams`, allowing the vehicle to utilize the platform standard `STEER_MAX = 384`. ### Motivation & Validation The 2019 Hyundai Ioniq Electric Limited factory MDPS accepts the standard Hyundai `STEER_MAX = 384` without steering faults, or torque saturation cutouts. Validation was performed on stock openpilot across a 10-minute drive with active steering through multiple curves and intersections: - **Vehicle**: 2019 Hyundai Ioniq Electric Limited (`HYUNDAI_IONIQ_EV_LTD`) - **Validation Route**: `b6edfc28e83e71b2/00000003--22b88592f2` - **Connect Link**: https://connect.comma.ai/b6edfc28e83e71b2/00000003--22b88592f2 #### Drive Telemetry & Audit Summary: - **Total Drive Duration**: `10.02 mins` - **Active Engaged Cruise**: `7.67 mins` (460.3s) up to 77.5 km/h - **Peak Commanded Torque**: `384 / 384` (100% authority utilized) - **Time in Extended Torque Range (>255)**: `58.00s` - **MDPS / LKAS Faults**: `0` (Zero temporary or permanent steer faults) - **Driver Override / Handover**: Smooth with no resistance or disengagement faults ### Changes - `opendbc/car/hyundai/values.py`: Remove `CAR.HYUNDAI_IONIQ_EV_LTD` from the 255-clamped `STEER_MAX` tuple in `CarControllerParams`. ```
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Summary
Removes
CAR.HYUNDAI_IONIQ_EV_LTD(2019 Hyundai Ioniq Electric Limited) from the 255-torque clamp inCarControllerParams, allowing the vehicle to utilize the platform standardSTEER_MAX = 384.Motivation & Validation
The 2019 Hyundai Ioniq Electric Limited factory MDPS accepts the standard Hyundai
STEER_MAX = 384without steering faults, or torque saturation cutouts.Validation was performed on stock openpilot across a 10-minute drive with active steering through multiple curves and intersections:
Drive Telemetry & Audit Summary:
10.02 mins7.67 mins(460.3s) up to 77.5 km/h384 / 384(100% authority utilized)58.00s0(Zero temporary or permanent steer faults)This was discussed previously in commaai/openpilot#24122
Changes
opendbc/car/hyundai/values.py: RemoveCAR.HYUNDAI_IONIQ_EV_LTDfrom the 255-clampedSTEER_MAXtuple inCarControllerParams.Validation
HYUNDAI_IONIQ_EV_LTD)