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

[sunnyhaibin]

Checklist

• added entry to CarInfo in selfdrive/car/*/values.py and ran selfdrive/car/docs.py to generate new docs
• test route added to routes.py
• route with stock system: 428412ad82894ba3|2023-10-27--15-44-21
• route with openpilot: 428412ad82894ba3|2023-12-09--17-01-47
• harness Type: Hyundai N
• architecture: CAN-FD

Link to all physical parts during installation

• comma 3X
• car harness kit
  • Hyundai N

Thanks to the community 2022 Kia Sportage Plug-in Hybrid owner dhimmels.

Requires

• Hyundai: Second alternative steering limits panda#2038

Supersedes commaai/openpilot#30575

[github-actions]

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[jyoung8607]

If this is one of those vehicles with different/unusual EPS response, where we need to tone down openpilot's output, mention that separately in the PR as a blocker. We don't want to accidentally merge this before figuring out a solution.

[jyoung8607]

According to the history this vehicle does have much higher lateral control authority, and it also has the known issues with "grasp wheel" and "take a break" HUD alerts.

Those need to be sorted out before the car can ship as fully supported, and since it's a combined platform with the existing Sportage, there's not an easy option to merge as dashcam either. I think all these issues are fixable, but they're blockers for this PR.

• Need to handle drastic change in lateral control response
• Need to handle spurious HUD alerts

[sunnyhaibin]

Using fwdCamera for now to distinguish between PHEV and other variants for the second alternative limits.

[dhimmel]

Here is a route that @sunnyhaibin requested in a discord thread, which evaluates sunnyhaibin/openpilot-1@e10a809 on a 2023 Kia Sportage PHEV.

The route id is 428412ad82894ba3/00000040--6ea91f379f/1 (also on comma connect). This route includes some interstate driving where the driver grasp not detected appeared.

[dhimmel]

@jyoung8607 is this PR reviewable now after @sunnyhaibin's commits to address the lateral control authority and alerts along with the test route above?

[jyoung8607]

In part. I'll try to write up some comments later today.