Toyota: use radar in place of abs for platform code ECU by sshane · Pull Request #31043 · commaai/openpilot

sshane · 2024-01-17T23:12:36Z

Looking at the non-zero TTFF list, this would have solved a fair amount of the Toyota cases in the last few months. Will need to do some verification to ensure that nothing regresses.

The reason we chose abs over fwdRadar was because it nicely split ICE and hybrid cars, before we combined them. However, this means that it is too sensitive to minor differences within the same model year and generation (it shows trim and engine differences sometimes).

If we switch to fwdRadar, we need to combine the rest of the hybrid platforms, but this means that we need to detect some sng related features relying on the hybrid/ICE split. More on that here

Non-zero fingerprinting cars from the openpilot-metrics cars page from 2023-10-10 to 2024-01-17:

Dongle	Platform	Gain FP?
c3f88a5035764f65	TOYOTA PRIUS TSS2 2021	Gain
7525f320bb0420f0	TOYOTA RAV4 2023	Gain
9d09cc205c254c4b	TOYOTA RAV4 2022 (or 2023)	No (unseen RAV4 in EU region)
404d0b3326346d5a	TOYOTA RAV4 2023	Gain
061932dac503c0f7	TOYOTA RAV4 2023	No (2024 with new major version)
007f1416e7b53998	TOYOTA RAV4 2023	Gain
69e4f202ff8a7c3e	TOYOTA COROLLA TSS2 2019	Gain
ad087a7655bd6039	TOYOTA CAMRY 2021	Both fuzzy FP (Gain when removing all its FW)
d90d60569fa8bfe0	TOYOTA CAMRY 2021	Gain
9993ef6cfe3613bf	TOYOTA RAV4 2023	Gain
8d1efe1f449e4386	TOYOTA HIGHLANDER 2020	Gain (with hybrid combination)
bff212aa671150d5	TOYOTA COROLLA TSS2 2019	No
9bf4af979ddee563	LEXUS IS 2023	No (base vs F-Sport trim, EPS also shows a difference)
01762a5235a24145	LEXUS RC 2020	No - significantly new MY (2018, added here without FW or source, expected: #25134)

…nd/or pedal

…365 and 0x366)

sshane · 2024-01-25T09:42:10Z

I checked a random segment from each dongle for the last year + all mock routes, I also ignored any mock routes that didn't have a majority of Toyota FW responses -- a good heuristic for whether the car is a Toyota/Lexus or not:

Total checked dongles: 3871
Total checked platforms: 32

Here's all the dongles that didn't gain a fingerprint with this PR, they're all mostly unsupportable cars, so this is good!

View

Dongles stayed same (no gain) 17

no gain! c5a2f0d514baa01c|2023-04-08--14-34-34--12 mock vin car name: TOYOTA Sienna Hybrid 2021 5TDKRKEC2........
no gain! c35915933c1bc687|2023-03-04--12-23-23--2 mock vin car name: TOYOTA Sienna Hybrid 2022 5TDKRKEC7........
no gain! bfd59919af7a9183|2023-03-02--20-00-56--32 mock vin car name: TOYOTA Venza Hybrid 2023 JTEAAAAH8........
no gain! 45d332ef56466d87|2023-03-04--20-56-32--0 mock vin car name: TOYOTA RAV4 Prime Plug-in Hybrid 2021 JTMAB3FV0........
no gain! 524cd60e4f7afcdd|2023-04-22--12-50-08--11 mock vin car name: TOYOTA Sienna Hybrid 2023 5TDCSKFC2........
no gain! c7e296b914b21642|2023-02-26--19-40-20--0 mock vin car name: TOYOTA RAV4 Prime Plug-in Hybrid 2021 JTMAB3FV2........
no gain! c27e776f2a552b38|2023-12-27--14-48-58--0 mock vin car name: TOYOTA Prius Prime Plug-in Hybrid 2022 JTDKAMFP1........
no gain! 9d09cc205c254c4b|2024-01-20--15-39-13--0 mock vin car name: TOYOTA   JTDAGNAC5........
no gain! 1547f5d12a3942eb|2024-01-08--15-55-40--0 mock vin car name:    000000000........
no gain! f60772e6acef55c4|2023-12-12--15-33-10--0 mock vin car name: TOYOTA RAV4 Hybrid 2022 4T3RWRFV5........  # missing EPS? recent routes are good
no gain! 0b54d0594d924cd9|2023-12-23--14-58-53--0 mock vin car name:    000000000........  # unseen platform code in Japan
no gain! 787a897ec84996e7|2023-12-03--14-30-24--0 mock vin car name: TOYOTA Corolla Hybrid 2022 JTDEAMDE0........  # missing EPS? recent routes are good
no gain! a2c30de116fe186d|2023-06-24--21-29-58--12 mock vin car name: TOYOTA RAV4 Hybrid 2023 2T3RWRFV9........  # missing EPS? recent routes are good
no gain! 5f847404b2508ce0|2023-05-08--11-27-40--7 mock vin car name: TOYOTA Land Cruiser  JTEBR3FJ1........
no gain! 9bf4af979ddee563|2023-12-14--04-57-32--0 mock vin car name: LEXUS IS 2023 JTHAP1D26........  # new EPS version, we only have 1 in DB
no gain! 817df76359225baa|2023-12-28--20-19-48--0 mock vin car name: TOYOTA RAV4 Prime Plug-in Hybrid 2022 JTMEB3FV4........
no gain! 519cd5cb1bd7f6f5|2023-10-17--14-19-35--0 mock vin car name: TOYOTA RAV4 Prime Plug-in Hybrid 2023 JTMEB3FV6........

And we have 19 new dongles that now fingerprint with both using fwdRadar and neither! No dongles lose matches.

View

Dongles stayed same (no gain) 17
Gain: 19 dongles
Loss: 0 dongles
Even: 3852 dongles

something mismatched
404d0b3326346d5a|2023-12-29--11-21-36--0 mock
(True, [])  # abs
(False, ['TOYOTA RAV4 2023'])  # fwdRadar
(False, ['TOYOTA RAV4 2023'])  # neither (fwdCamera and eps)

something mismatched
7525f320bb0420f0|2023-12-05--22-11-17--0 mock
(True, [])
(False, ['TOYOTA RAV4 2023'])
(False, ['TOYOTA RAV4 2023'])

something mismatched
3b1e68fd17e4d223|2023-06-27--16-35-56--38 LEXUS ES 2019
(True, [])
(False, ['LEXUS ES 2019'])
(False, ['LEXUS ES 2019'])

something mismatched
26d5fad65695ba89|2023-12-13--15-22-07--0 TOYOTA RAV4 2023
(True, [])
(False, ['TOYOTA RAV4 2023'])
(False, ['TOYOTA RAV4 2023'])

something mismatched
9993ef6cfe3613bf|2023-12-30--17-50-36--44 TOYOTA RAV4 2023
(True, [])
(False, ['TOYOTA RAV4 2023'])
(False, ['TOYOTA RAV4 2023'])

something mismatched
e16e4f4ef04a4ab3|2023-12-22--10-25-18--8 mock
(True, [])
(False, ['TOYOTA RAV4 2022'])
(False, ['TOYOTA RAV4 2022'])

something mismatched
c3f88a5035764f65|2024-01-15--23-13-40--0 mock
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
7c4c77e442583f42|2023-02-05--16-31-26--39 TOYOTA PRIUS TSS2 2021
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
495ad4581a73fe31|2023-10-19--13-01-24--17 TOYOTA PRIUS TSS2 2021
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
f408dd110b0536c6|2024-01-03--05-35-28--3 mock
(True, [])
(False, ['TOYOTA HIGHLANDER 2020'])
(False, ['TOYOTA HIGHLANDER 2020'])

something mismatched
0bbe367c98fa1538|2023-06-27--12-41-04--6 mock
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
01dbb5f1401cb7ae|2023-02-28--21-23-21--2 TOYOTA PRIUS TSS2 2021
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
9b3ad576e0a790c7|2023-10-06--21-41-37--16 TOYOTA RAV4 2022
(True, [])
(False, ['TOYOTA RAV4 2022'])
(False, ['TOYOTA RAV4 2022'])

something mismatched
a7439389f7c058a6|2023-09-05--18-44-13--7 TOYOTA ALPHARD 2020
(True, [])
(False, ['TOYOTA ALPHARD 2020'])
(False, ['TOYOTA ALPHARD 2020'])

something mismatched
69e4f202ff8a7c3e|2023-12-09--16-10-00--0 mock
(True, [])
(False, ['TOYOTA COROLLA TSS2 2019'])
(False, ['TOYOTA COROLLA TSS2 2019'])

something mismatched
3343b62dd3cee552|2023-02-15--12-18-56--1 TOYOTA PRIUS TSS2 2021
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
dafb0cb9e28e0249|2023-04-30--10-28-37--1 TOYOTA PRIUS TSS2 2021
(True, [])
(False, ['TOYOTA PRIUS TSS2 2021'])
(False, ['TOYOTA PRIUS TSS2 2021'])

something mismatched
007f1416e7b53998|2023-12-23--05-05-11--0 mock
(True, [])
(False, ['TOYOTA RAV4 2023'])
(False, ['TOYOTA RAV4 2023'])

something mismatched
b1d815294319e3f7|2023-06-10--11-20-13--0 mock
(True, [])
(False, ['TOYOTA RAV4 2023'])
(False, ['TOYOTA RAV4 2023'])

Notebook code:

View

def get_most_likely_brand(car_fw):
  brands = defaultdict(int)
  for fw in car_fw:
    brands[fw.brand] += 1
  brands = {b: c for b, c in brands.items() if c > 3}
  if len(brands) == 0:
    return None
  return sorted(brands.items(), key=lambda x: x[1])[-1][0]

gain_losses = {}
checked_dongles_set = set()
checked_platforms_set = set()
dongles_stayed_same = set()

print('Results: {}'.format(len(results)))
for r in tqdm(results):
  segment, CP, fp_results, platform = r
  dongle = segment.split('|')[0]

  if len(CP.carFw) == 0:
    continue

  if dongle in checked_dongles_set:
    continue
  
  checked_dongles_set.add(dongle)
  checked_platforms_set.add(platform)

  new_method_comparing = 'fwdRadar'

  # (allow_fuzzy, allow_exact, platform_code_ecu)
  if fp_results[(True, True, 'abs')] == fp_results[(True, True, new_method_comparing)] and len(fp_results[(True, True, new_method_comparing)][1]) != 1:
    # don't consider other brands for this metric
    if get_most_likely_brand(CP.carFw) == 'toyota':
      try:
        # assert False
        parsed = vpic.decode_vin(CP.carVin)
        electrification = (' Plug-in Hybrid' if 'PHEV' in parsed.electrification_level else
                         ' Hybrid' if 'HEV' in parsed.electrification_level else '')
        car_vin_name = f'{parsed.make} {parsed.model}{electrification} {parsed.model_year}'
      except:
        car_vin_name = None
      print('no gain!', segment, platform, 'vin car name:', car_vin_name, CP.carVin[:-8] + '........')
      # print(fp_results[(True, True, 'abs')])
      # print(fp_results[(True, True, 'fwdRadar')])
      # print(fp_results[(True, True, 'neither')])
      dongles_stayed_same.add(dongle)
      print()

  if not (fp_results[(True, True, 'abs')] == fp_results[(True, True, 'fwdRadar')] == fp_results[(True, True, 'neither')]):# or platform == 'mock':
    print('something mismatched')
    print(segment, platform)
    print(fp_results[(True, True, 'abs')])
    print(fp_results[(True, True, 'fwdRadar')])
    print(fp_results[(True, True, 'neither')])
    print()

  if dongle not in gain_losses:
    matches_fuzzy_old = fp_results[(True, True, 'abs')][1]
    matches_fuzzy_new = fp_results[(True, True, new_method_comparing)][1]
    if len(matches_fuzzy_new) == 1 and len(matches_fuzzy_old) != 1:
      gain_losses[dongle] = 'gain'
    elif len(matches_fuzzy_new) != 1 and len(matches_fuzzy_old) == 1:
      gain_losses[dongle] = 'loss'  # 'loss_noradar' if missing_radar else 'loss'
    else:
      gain_losses[dongle] = 'even?'

  if not (fp_results[(True, True, 'fwdRadar')] == fp_results[(True, True, 'neither')]):# or platform == 'mock':
    print('one of the new methods mismatched')
    print(segment, platform)
    print(fp_results[(True, True, 'abs')])
    print(fp_results[(True, True, 'fwdRadar')])
    print(fp_results[(True, True, 'neither')])
    print()

* use radar instead of abs * str the strenum * Lexus ES: non-TSS2 probably don't have stop and go without DSU-pull and/or pedal * remove from NO_STOP_TIMER_CAR. this set is so confusing * Combine ES & ESH (preferring ESH's DSU msgs) * ES: forgot substitute * comment * Highlander: combine, preferring the hybrid for DSU msg mismatches (0x365 and 0x366) * remove duplicates and sort * update docs * toyota non_essential ECU test * Lexus RX: combine, preferring hybrid's msgs (they all exist on ICE) * sort and remove dups * parameterize so we can test with notebook * this too * clean up * clean up * tuple makes more sense * update comments * update * update * update old-commit-hash: be15b31

sshane added enhancement fingerprint car vehicle-specific toyota labels Jan 17, 2024

use radar instead of abs

7409154

sshane force-pushed the toyota-no-abs branch from dcb3951 to 7409154 Compare January 18, 2024 03:06

sshane added 13 commits January 17, 2024 19:07

str the strenum

b1ba16f

Lexus ES: non-TSS2 probably don't have stop and go without DSU-pull a…

3a55399

…nd/or pedal

remove from NO_STOP_TIMER_CAR. this set is so confusing

01540dd

Combine ES & ESH (preferring ESH's DSU msgs)

44fe54a

ES: forgot substitute

7f5f35e

comment

7d1a11e

Highlander: combine, preferring the hybrid for DSU msg mismatches (0x…

87236fe

…365 and 0x366)

remove duplicates and sort

ec0871f

update docs

52b9cf7

Merge remote-tracking branch 'upstream/master' into toyota-no-abs

b7d0304

toyota non_essential ECU test

6dbb0ff

Lexus RX: combine, preferring hybrid's msgs (they all exist on ICE)

47e5a1a

sort and remove dups

2cd6399

sshane mentioned this pull request Jan 19, 2024

Toyota: combine more hybrid platforms #31057

Merged

3 tasks

sshane added 4 commits January 18, 2024 22:41

Merge remote-tracking branch 'upstream/master' into toyota-no-abs

782630a

parameterize so we can test with notebook

ef849ba

Merge remote-tracking branch 'upstream/master' into toyota-no-abs

801c57d

this too

be229ee

sshane added 5 commits January 25, 2024 01:50

clean up

b1d56b4

clean up

c7a2da7

tuple makes more sense

8c8226e

update comments

141262c

Merge remote-tracking branch 'upstream/master' into toyota-no-abs

5ede102

sshane added 3 commits January 25, 2024 01:59

update

87d4da3

update

e8ead2d

update

dc858c9

sshane merged commit be15b31 into master Jan 25, 2024

sshane deleted the toyota-no-abs branch January 25, 2024 10:02

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Toyota: use radar in place of abs for platform code ECU - #31043

Toyota: use radar in place of abs for platform code ECU#31043
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