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Latcontrol: use more accurate naming for saturation time (#36286)

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felsager
2025-10-09 10:34:26 -07:00
committed by GitHub
parent 0736f325fc
commit 4c9ca91b98
1 changed files with 6 additions and 7 deletions
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selfdrive/controls/lib/latcontrol.py
+6 -7
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@@ -5,9 +5,8 @@ from abc import abstractmethod, ABC
class LatControl(ABC):
def __init__(self, CP, CI, dt):
self.dt = dt
self.sat_count_rate = 1.0 * self.dt
self.sat_limit = CP.steerLimitTimer
self.sat_count = 0.
self.sat_time = 0.
self.sat_check_min_speed = 10.
# we define the steer torque scale as [-1.0...1.0]
@@ -18,13 +17,13 @@ class LatControl(ABC):
pass
def reset(self):
self.sat_count = 0.
self.sat_time = 0.
def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
# Saturated only if control output is not being limited by car torque/angle rate limits
if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
self.sat_count += self.sat_count_rate
self.sat_time += self.dt
else:
self.sat_count -= self.sat_count_rate
self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
return self.sat_count > (self.sat_limit - 1e-3)
self.sat_time -= self.dt
self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
return self.sat_time > (self.sat_limit - 1e-3)