VW MQB: AEB actuation setup

opendbc/car/volkswagen/carcontroller.py

@@ -18,6 +18,7 @@ def __init__(self, dbc_name, CP):
     self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
     self.packer_pt = CANPacker(dbc_name)
     self.ext_bus = CANBUS.pt if CP.networkLocation == structs.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
+    self.aeb_available = not CP.flags & VolkswagenFlags.PQ
 
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
@@ -76,13 +77,20 @@ def update(self, CC, CS, now_nanos):
 
     # **** Acceleration Controls ******************************************** #
 
-    if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
-      acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
-      stopping = actuators.longControlState == LongCtrlState.stopping
-      starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
-      can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
-                                                         acc_control, stopping, starting, CS.esp_hold_confirmation))
+    if self.CP.openpilotLongitudinalControl:
+      if self.frame % self.CCP.ACC_CONTROL_STEP == 0:
+        acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
+        stopping = actuators.longControlState == LongCtrlState.stopping
+        starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
+        can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
+                                                           acc_control, stopping, starting, CS.esp_hold_confirmation))
+
+      if self.aeb_available:
+        if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
+          can_sends.append(self.CCS.create_aeb_control(self.packer_pt, False, False, 0.0))
+        if self.frame % self.CCP.AEB_HUD_STEP == 0:
+          can_sends.append(self.CCS.create_aeb_hud(self.packer_pt, False, False))
 
     # **** HUD Controls ***************************************************** #
 

opendbc/car/volkswagen/mqbcan.py

@@ -135,3 +135,35 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
   }
 
   return packer.make_can_msg("ACC_02", bus, values)
+
+
+# AWV = Stopping Distance Reduction
+# Refer to Self Study Program 890253: Volkswagen Driver Assistance Systems, Design and Function
+
+
+def create_aeb_control(packer, fcw_active, aeb_active, accel):
+  values = {
+    "AWV_Vorstufe": 0,  # Preliminary stage
+    "AWV1_Anf_Prefill": 0,  # Brake pre-fill request
+    "AWV1_HBA_Param": 0,  # Brake pre-fill level
+    "AWV2_Freigabe": 0,  # Stage 2 braking release
+    "AWV2_Ruckprofil": 0,  # Brake jerk level
+    "AWV2_Priowarnung": 0,  # Suppress lane departure warning in favor of FCW
+    "ANB_Notfallblinken": 0, # Hazard flashers request
+    "ANB_Teilbremsung_Freigabe": 0,  # Target braking release
+    "ANB_Zielbremsung_Freigabe": 0,  # Partial braking release
+    "ANB_Zielbrems_Teilbrems_Verz_Anf": 0.0,   # Acceleration requirement for target/partial braking, m/s/s
+    "AWV_Halten": 0,  # Vehicle standstill request
+    "PCF_Time_to_collision": 0xFF,  # Pre Crash Front, populated only with a target, might be used on Audi only
+  }
+
+  return packer.make_can_msg("ACC_10", 0, values)
+
+
+def create_aeb_hud(packer, aeb_supported, fcw_active):
+  values = {
+    "AWV_Texte": 5 if aeb_supported else 7,  # FCW/AEB system status, display text (from menu in VAL)
+    "AWV_Status_Anzeige": 1 if aeb_supported else 2,  #  FCW/AEB system status, available or disabled
+  }
+
+  return packer.make_can_msg("ACC_15", 0, values)

opendbc/car/volkswagen/values.py

@@ -21,6 +21,8 @@
 class CarControllerParams:
   STEER_STEP = 2                           # HCA_01/HCA_1 message frequency 50Hz
   ACC_CONTROL_STEP = 2                     # ACC_06/ACC_07/ACC_System frequency 50Hz
+  AEB_CONTROL_STEP = 2                     # ACC_10 frequency 50Hz
+  AEB_HUD_STEP = 20                        # ACC_15 frequency 5Hz
 
   # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
   # MQB vs PQ maximums are shared, but rate-of-change limited differently