Eyesight

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martinl edited this page Jun 28, 2020 · 59 revisions

Subaru global platform

Eyesight Features

ACC

ES_Distance contains acceleration and buttons status
- Cruise_Throttle
- Cruise_Brake_Active
- Cruise_EPB
- Cruise_Cancel
- Cruise_Set
- Cruise_Resume
ES_Brake
- Brake_Pressure
- State (8 = cruise active, 12/13 = braking)
ES_Status
- Cruise_RPM
- Brake_Lights

LKAS

ES_LKAS controls steering
- LKAS_Output - steering torque request
ES_LKAS_State controls dash display and notifications
- Keep_Hands_On_Wheel
- LKAS_ACTIVE (0..3)
- Backward_Speed_Limit_Menu?
- LKAS_Left_Line_Visible
- LKAS_Right_Line_Visible
- FCW_Cont_Beep
- FCW_Repeated_Beep
- Vehicle_In_Front_Has_Moved
- Throttle_Management_Activated (object in front detected)

ES CAN messages

50Hz ES_LKAS - LKAS steering control
20Hz ES_Brake - ACC brake pressure and status
20Hz ES_Distance - ACC state (Throttle and buttons)
20Hz ES_Status
20Hz ES_Blank
10Hz ES_DashStatus
10Hz ES_LKAS_State - LKAS and FCW dash status and notifications
10Hz ES_NEW_MSG_22

States

Enabled
Ready
Engaged
Hold

Buttons

Resume
Set
Cancel
Increase follow distance
Decrease follow distance

Openpilot message frequencies

CarState = 100Hz

CAR CAN messages frequencies