commaai
Honda: Haptic warning when engaged at low speeds
Describe the bug
At low speeds (around 15 MPH), my steering wheel will "rumble" if I collaboratively steer alongside lateral input from openpilot. To be precise, this is not the kind of vibration/rumbling that Hondas give the driver to indicate a warning (like lane departure), but almost feels as if I am going over a rumble strip. More accurately, it sounds like I'm fighting the torque actuator -- or something.
Which car does this affect?
Honda CR-V 2020
Provide a route where the issue occurs
e4b43f41460a7547/00000001--02564f7b2d/1
openpilot version
27c26c2 (master-ci)
Additional info
I initially encountered this issue on Sunnypilot when using its separated LKAS / ACC feature. My CR-V's stock ACC does not allow me to set the cruise below 25 MPH, so I was able to reproduce this on stock OP using OP long and setting my max speed to 15 MPH. In the provided route, the issue happens a lot as I zig-zag through a street near the very end (immediately preceding the bookmarks at the end).
Possibly related to commaai/opendbc#1112, except this feels and sounds like a rumble, rather than just being an electric humming sound.
Still an issue?
Yes - not sure if it's something with my particular car, though. I forgot to reach out to another CR-V owner in the Discord and ask about this problem
To be precise, this is not the kind of vibration/rumbling that Hondas give the driver to indicate a warning (like lane departure), but almost feels as if I am going over a rumble strip. More accurately, it sounds like I'm fighting the torque actuator -- or something.
At those times, your EPS motor output includes a perfect 10Hz waveform of decent amplitude. It's extremely likely this is an EPS haptic warning. Not quite sure what the trigger is yet.
The 2020 Honda CR-V owner's manual shows three causes of tactile warnings:
- Lane Keeping Assist System
- Road Departure Mitigation
- Driver Attention Monitor
For LKAS and RDM, I'm not immediately able to find anything interesting coming from the camera, and we're outside the documented speed envelope for either of them to activate.
Driver Attention Monitoring (just an sensor/algorithm thing) may not be done by the camera, so we may not see it in CAN logs. On at least one other manufacturer with a similar algorithm, it's done in the CAN gateway. We could have a similar situation with Honda, it could even be done within the EPS itself. But we're also outside its documented speed envelope.
We're operating your EPS well below its documented speed support, so by definition we can encounter undocumented behavior. There could be some sort of low speed driver takeover warning built into the EPS firmware.
Questions:
- Do any other Honda CR-V owners have this behavior?
- Do you have Driver Attention Monitor turned on? There's a tactile-only setting. Try turning it off.
- We could test with reapplication of #2104
We're operating your EPS well below its documented speed support, so by definition we can encounter undocumented behavior. There could be some sort of low speed driver takeover warning built into the EPS firmware.
Discord discussion turned up the same thing on Honda City, which isn't upstream yet but had to slightly lift its min steer speed for the same issue. The EPS is trying to do us a solid because we're leaving its control envelope, so we'll take the hint.
This was reopened because the change in #2570, while valid and appropriate, doesn't actually prevent openpilot from trying to steer. Correctly fixing this will require actual minSteerSpeed handling in the Honda port, which is a larger undertaking.
Suffered from the same issue in Honda Fit/Jazz E:HEV. Occurs whe the vehicle speed is at the range from 8 to 18kph when decelerate gently, but not when deceleration is a little aggresive. The vehicle I owned doesn't have driver attention monitoring.
