Honda: LKAS button can cause delayed immediate disable

[jyoung8607]

Describe the bug

There is a "random disengagement" on Bosch radarless which traces back to the driver hitting the steering wheel LKAS button. The issue itself isn't new, but people didn't use the LKAS button very often while using openpilot.

Now the 0.10 release notes invite people to hit the LKAS button while engaged.

commaai/opendbc#2192 has a proposed fix, but it hasn't been reviewed yet.

Provide a route where the issue occurs

a2152effbad22b70/0000027c--9167f496ab

openpilot version

release3-staging

Additional info

No response

[adeebshihadeh]

Gonna just pull LKAS as bookmark out of the release. It probably needs slightly more thought anyway.

[lukew2580]

Gonna just pull LKAS as bookmark out of the release. It probably needs slightly more thought anyway.

this is somthing I can fix possibly. I have a few fixes on my fork I have been fixing but I forget what numbers I went and fixed, but I will get working on this. give me about a day to fix

[kevinharbin]

Possibly related issue in 2022 Civic. I don't think I pressed LKAS, but maybe I did.

Route: 5e777eb56efe2f7b/00000544--b2d9b03622/4 OpenPilot Version: release3

[sshane]

@jyoung8607 do you have a suspected fix or is the cause unknown?

[jyoung8607]

@jyoung8607 do you have a suspected fix or is the cause unknown?

Cause is understood to be stock LKAS forcing a stock ACC disengagement due to lack of driver input torque. This doesn't seem to happen when stock LKAS isn't enabled. Other than that, it's similar to commaai/openpilot#23274.

Options:

1. Spam buttons to disable stock LKAS if it was enabled. @mvl-boston made an attempt at this in commaai/opendbc#2192. Latest notes say it didn't work, and I don't think it's been touched in awhile.
2. Try to isolate the mechanism stock LKAS is using to force disengagement, and filter/proxy that message. This will only work if it's happening across bus 0/2. This is probably the best thing, if we can find it. I haven't tried.
3. Detect stock LKAS state and reject engagements if it's enabled, coupled with filtering/proxying the buttons message to prevent LKAS button presses making it to the camera, to prevent it from being enabled while engaged.
4. Simulate driver input torque towards the camera. This was our only option on VW due to bus topology. See #24711. It doesn't feel like Plan A, but it's virtually certain to work.