Hyundai Kia Genesis
Before purchasing a harness for an unsupported vehicle, make sure you are purchasing the correct type.
You can find this connector plugged into your Lane-Keep camera which is located near your rear-view mirror. You will need to pull back some trim to expose the camera. Once you do, unplug the connector and compare it to the types below.
non-HDA2 - wiring diagram
non-HDA2 - wiring diagram
HDA2 - wiring diagram
different wiring / non-HDA2 - wiring diagram
non-HDA2 - wiring diagram
HDA2 - wiring diagram
different wiring / non-HDA2 - wiring diagram
non-HDA2 - wiring diagram
HDA2 - wiring diagram
Same connector housing as a Toyota harness, but different wiring.
wiring diagram
For general terms, go here.
| Abbreviation | Term | Definition |
|---|---|---|
| SCC | Smart Cruise Control | A fancy way to say ACC, or adaptive cruise control. |
| HDA | Highway Driver Assist | Combines LFA and SCC with map data to create a more comfortable level 2 experience. |
| LFA | Lane Follow Assist | A fancier LKAS that centers but nags |
Control over the steering wheel.
For HKG cars that have critical damping (ping pong, oscillation, ziggy zaggies) no matter your settings, PID tuning may not be right for your car. You can try INDI tuning instead by adding these five lines to your relevant car in /car/hyundai/interface.py :
ret.lateralTuning.init('indi')
ret.lateralTuning.indi.innerLoopGain = 3.0
ret.lateralTuning.indi.outerLoopGain = 2.0
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
Comment out the lines containing Kp, Ki and Kf with a # at the beginning of the line.
The above is only a start point, and needs tuning like any variable parameter. Raise and lower the LoopGain's by 0.1 at a time, both up or down, until your condition improves. For Stinger and Genesis, the actuatorEffectiveness start point should be 1.5.
Control over the gas and brakes.
At the moment, longitudinal control is provided by the stock system that came with the car. In the future, we will be able to control longitudinally via openpilot for any vehicle whose trims can support SCC, even if not equipped