fix(vw): allow ID4 recognition without engine FW

opendbc_repo/opendbc/can/dbc.py

@@ -13,7 +13,7 @@
 from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
 from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
 from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
-from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
+from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_gen2_checksum, volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
 from opendbc.car.psa.psacan import psa_checksum
@@ -35,6 +35,7 @@ class SignalType:
   PSA_CHECKSUM = 12
   VOLKSWAGEN_MLB_CHECKSUM = 13
   PEDAL_CHECKSUM = 14
+  VOLKSWAGEN_MQB_MEB_GEN2_CHECKSUM = 15
 
 
 @dataclass
@@ -196,6 +197,8 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
   elif dbc_name.startswith("hyundai_canfd_generated"):
     return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
+  elif dbc_name.startswith("vw_meb_2024"):
+    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_GEN2_CHECKSUM, volkswagen_mqb_meb_gen2_checksum)
   elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
   elif dbc_name.startswith("vw_mlb"):

opendbc_repo/opendbc/car/lateral.py

@@ -1,14 +1,23 @@
 import math
 import numpy as np
 from dataclasses import dataclass
-from opendbc.car import structs, rate_limit, DT_CTRL
+from typing import Tuple
+
+from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car.vehicle_model import VehicleModel
 
 FRICTION_THRESHOLD = 0.3
 
 # ISO 11270
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3
+AVERAGE_ROAD_ROLL = 0.06  # 평균 도로 롤 (MEB 곡률 한계 계산용)
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+
+
+@dataclass
+class CurvatureSteeringLimits:
+  CURVATURE_MAX: float
 
 
 @dataclass
@@ -24,6 +33,60 @@ class AngleSteeringLimits:
   MAX_ANGLE_RATE: float = math.inf
 
 
+def get_max_curvature_jerk(v_ego: float, steer_step: int) -> float:
+  ts_elapsed = steer_step * DT_CTRL
+  curvature_rate_limit = ISO_LATERAL_JERK / (max(v_ego, 1.0) ** 2)
+  return curvature_rate_limit * ts_elapsed
+
+
+def get_max_curvature_roll(roll: float, v_ego: float) -> Tuple[float, float]:
+  max_lat_accel = ISO_LATERAL_ACCEL - (roll * ACCELERATION_DUE_TO_GRAVITY)
+  min_lat_accel = -ISO_LATERAL_ACCEL - (roll * ACCELERATION_DUE_TO_GRAVITY)
+  max_curvature = max_lat_accel / (max(v_ego, 1.0) ** 2)
+  min_curvature = min_lat_accel / (max(v_ego, 1.0) ** 2)
+  return min_curvature, max_curvature
+
+
+def get_max_curvature_average(v_ego: float) -> Tuple[float, float]:
+  max_curvature = MAX_LATERAL_ACCEL / (max(v_ego, 1.0) ** 2)
+  return -max_curvature, max_curvature
+
+
+def get_max_curvature_yaw_rate(yaw_rate: float, apply_curvature: float, apply_curvature_last: float, v_ego: float,
+                               steer_step: int, override: bool) -> Tuple[float, float]:
+  min_curvature, max_curvature = get_max_curvature_average(v_ego)
+  if not override:
+    max_lateral_accel = max_curvature * (max(v_ego, 1.0) ** 2)
+    actual_lat_accel = abs(yaw_rate) * max(v_ego, 1.0)
+    if actual_lat_accel > max_lateral_accel:
+      scale = MAX_LATERAL_ACCEL / actual_lat_accel
+      max_curvature = apply_curvature * scale
+  max_jerk = get_max_curvature_jerk(v_ego, steer_step)
+  curvature_up = abs(apply_curvature_last) + max_jerk
+  curvature_down = abs(apply_curvature_last) - max_jerk
+  max_curvature = float(np.clip(max_curvature, curvature_down, curvature_up))
+  return -max_curvature, max_curvature
+
+
+def apply_std_curvature_limits(apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float, override: bool,
+                               steer_step: int, lat_active: bool, limits: CurvatureSteeringLimits, roll=None, yaw_rate=None) -> float:
+  new_apply_curvature = apply_curvature
+  max_jerk = get_max_curvature_jerk(v_ego, steer_step)
+  curvature_up = apply_curvature_last + max_jerk
+  curvature_down = apply_curvature_last - max_jerk
+  new_apply_curvature = float(np.clip(new_apply_curvature, curvature_down, curvature_up))
+  if roll is not None:
+    min_curvature, max_curvature = get_max_curvature_roll(roll, v_ego)
+  elif yaw_rate is not None:
+    min_curvature, max_curvature = get_max_curvature_yaw_rate(yaw_rate, apply_curvature, apply_curvature_last, v_ego, steer_step, override)
+  else:
+    min_curvature, max_curvature = get_max_curvature_average(v_ego)
+  new_apply_curvature = float(np.clip(new_apply_curvature, min_curvature, max_curvature))
+  if not lat_active:
+    new_apply_curvature = curvature
+  return float(np.clip(new_apply_curvature, -limits.CURVATURE_MAX, limits.CURVATURE_MAX))
+
+
 def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
   # some safety modes utilize a dynamic max steer
   if steer_max is None:

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -82,6 +82,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7"
 "SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7"
 "VOLKSWAGEN_JETTA_MK6" = "VOLKSWAGEN_PASSAT_NMS"
+"VOLKSWAGEN_ID4_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
+"VOLKSWAGEN_ID4_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
 
 "SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
 "SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"