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Honda: add Prelude 2026 (HONDA_PRELUDE_6G) #3624

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Honda: add Prelude 2026 (HONDA_PRELUDE_6G) #3624

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3 changes: 2 additions & 1 deletion docs/CARS.md
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@@ -1,6 +1,6 @@
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

# Support Information for 401 Known Cars
# Support Information for 402 Known Cars

|Make|Model|Package|Support Level|
|---|---|---|:---:|
Expand Down Expand Up @@ -128,6 +128,7 @@
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|Honda|Pilot 2023-25|All|[Upstream](#upstream)|
|Honda|Pilot 2026|All|[Community](#community)|
|Honda|Prelude 2026|All|[Upstream](#upstream)|
|Honda|Prologue 2024-26|All|[Not compatible](#can-bus-security)|
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|Honda|Ridgeline 2026|All|[Community](#community)|
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20 changes: 20 additions & 0 deletions opendbc/car/honda/fingerprints.py
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Expand Up @@ -1185,6 +1185,26 @@
b'8S102-3BM-A020\x00\x00',
],
},
CAR.HONDA_PRELUDE_6G: {
(Ecu.eps, 0x18da30f1, None): [
b'39990-36W-J020\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-36W-G010\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-36W-G430\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'8S102-36W-J040\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-36W-J020\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-36W-A410\x00\x00',
],
},
CAR.ACURA_TLX_2G: {
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TGV-A060\x00\x00',
Expand Down
2 changes: 1 addition & 1 deletion opendbc/car/honda/interface.py
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Expand Up @@ -106,7 +106,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
if candidate == CAR.HONDA_CIVIC_BOSCH:
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]

elif candidate == CAR.HONDA_CIVIC_2022:
elif candidate in (CAR.HONDA_CIVIC_2022, CAR.HONDA_PRELUDE_6G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
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8 changes: 8 additions & 0 deletions opendbc/car/honda/values.py
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Expand Up @@ -275,6 +275,14 @@ class CAR(Platforms):
[HondaCarDocs("Honda Passport 2026", "All")],
CarSpecs(mass=4620 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
)
HONDA_PRELUDE_6G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Prelude 2026", "All")],
# Shares the Civic e:HEV platform and the radarless Bosch messaging. 63/37 front/rear weight distribution.
# steerRatio from liveParameters, converged at 13.65 on a EU-market car (variable ratio rack, 14.9 on-center)
CarSpecs(mass=1480, wheelbase=2.605, steerRatio=13.65, centerToFrontRatio=0.37),
{Bus.pt: 'honda_bosch_radarless_generated'},
flags=HondaFlags.BOSCH_RADARLESS,
)
ACURA_MDX_4G = HondaBoschPlatformConfig(
[HondaCarDocs("Acura MDX 2022-24", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
CarSpecs(mass=4788 * CV.LB_TO_KG, wheelbase=2.89, steerRatio=15.8, centerToFrontRatio=0.428), # as spec
Expand Down
1 change: 1 addition & 0 deletions opendbc/car/tests/routes.py
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Expand Up @@ -124,6 +124,7 @@ class CarTestRoute(NamedTuple):
CarTestRoute("f44aa96ace22f34a/2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
CarTestRoute("1f032f5173c8ad99/00000006--573b3fcaf5", HONDA.HONDA_CIVIC_2022), # Civic Type R with manual transmission
CarTestRoute("b1c832ad56b6bc9d/00000010--debfcf5867", HONDA.HONDA_CIVIC_2022), # 2025 Civic Hatch Hybrid with new eCVT transmission
CarTestRoute("49d0fc1df3e7320b/00000002--d2df953add", HONDA.HONDA_PRELUDE_6G), # EU-market e:HEV
CarTestRoute("f9c43864cf057d05/2024-01-15--23-01-20", HONDA.HONDA_PILOT_4G), # TODO: Replace with a newer route
CarTestRoute("f39cf149898833ff/0000002b--54f3fae045", HONDA.HONDA_ACCORD_11G),
CarTestRoute("56b2cf1dacdcd033/00000017--d24ffdb376", HONDA.HONDA_CITY_7G), # Brazilian model
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1 change: 1 addition & 0 deletions opendbc/car/torque_data/substitute.toml
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Expand Up @@ -52,6 +52,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HONDA_E" = "HONDA_CIVIC_BOSCH"
"HONDA_E_ADVANCE" = "HONDA_CIVIC_BOSCH"
"HONDA_ODYSSEY_TWN" = "HONDA_ODYSSEY"
"HONDA_PRELUDE_6G" = "HONDA_CIVIC_2022"

"BUICK_LACROSSE" = "CHEVROLET_VOLT"
"BUICK_REGAL" = "CHEVROLET_VOLT"
Expand Down
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