mawei/MoreTore
1
0
Fork 0
mirror of https://github.com/MoreTore/openpilot.git synced 2026-08-02 13:29:30 +08:00
Code Issues Packages Projects Releases Wiki Activity

debug tune

Browse Source
This commit is contained in:
MoreTore
2025-05-11 23:23:26 -05:00
committed by Test User
parent ee61008e67
commit 82a483fe27
2 changed files with 24 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/test/process_replay/process_replay.py
+1 -1
View File
@@ -123,7 +123,7 @@ class ProcessConfig:
should_recv_callback: Callable | None = None
tolerance: float | None = None
processing_time: float = 0.001
timeout: int = 30
timeout: int = 300
simulation: bool = True
# Set to service process receives on first
main_pub: str | None = None
tools/tuning/measure_steering_accuracy.py
+23 -20
View File
@@ -46,7 +46,7 @@ class SteeringAccuracyTool:
control_state = lateralControlState.__getattr__(control_type)
v_ego = sm['carState'].vEgo
active = sm['controlsState'].active
active = control_state.active
steer = sm['carOutput'].actuatorsOutput.torque
standstill = sm['carState'].standstill
steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
@@ -59,36 +59,37 @@ class SteeringAccuracyTool:
# wait 5 seconds after engage / standstill / override / lane change
if self.cnt >= 500:
actual_angle = control_state.steeringAngleDeg
desired_angle = control_state.steeringAngleDesiredDeg
actual_accel = control_state.actualLateralAccel
desired_accel = control_state.desiredLateralAccel
# calculate error before rounding, then round for stats grouping
angle_error = abs(desired_angle - actual_angle)
actual_angle = round(actual_angle, 1)
desired_angle = round(desired_angle, 1)
angle_error = round(angle_error, 2)
angle_abs = int(abs(round(desired_angle, 0)))
accel_error = abs(desired_accel - actual_accel)
actual_accel = round(actual_accel, 2)
desired_accel = round(desired_accel, 2)
accel_error = round(accel_error, 3)
accel_abs = round(abs(desired_accel), 1) # bin by 0.1 m/s^2
for group, group_props in self.all_groups.items():
if v_ego > group_props[0]:
# collect stats
self.speed_group_stats[group][angle_abs]["cnt"] += 1
self.speed_group_stats[group][angle_abs]["err"] += angle_error
self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
self.speed_group_stats[group][accel_abs]["cnt"] += 1
self.speed_group_stats[group][accel_abs]["err"] += accel_error
self.speed_group_stats[group][accel_abs]["steer"] += abs(steer)
if len(model_points):
self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
if steer_limited_by_safety:
self.speed_group_stats[group][angle_abs]["limited"] += 1
if control_state.saturated:
self.speed_group_stats[group][angle_abs]["saturated"] += 1
if actual_angle == desired_angle:
self.speed_group_stats[group][angle_abs]["="] += 1
self.speed_group_stats[group][accel_abs]["saturated"] += 1
# allow a small tolerance for float comparison
if abs(actual_accel - desired_accel) < 0.01:
self.speed_group_stats[group][accel_abs]["="] += 1
else:
if desired_angle == 0.:
if desired_accel == 0.:
overshoot = True
else:
overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
self.speed_group_stats[group][angle_abs]["+" if overshoot else "-"] += 1
overshoot = desired_accel < actual_accel if desired_accel > 0. else desired_accel > actual_accel
self.speed_group_stats[group][accel_abs]["+" if overshoot else "-"] += 1
break
else:
self.cnt = 0
@@ -105,8 +106,8 @@ class SteeringAccuracyTool:
print(f" {'-'*118}")
for k in sorted(self.speed_group_stats[group].keys()):
v = self.speed_group_stats[group][k]
print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' +
f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' +
print(f' {k:>4.1f} m/s² | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' +
f'| error: {round(v["err"] / v["cnt"], 3):.3f} m/s² | -:{int(v["-"] / v["cnt"] * 100):#3}% ' +
f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' +
f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
print("")
@@ -140,8 +141,10 @@ if __name__ == "__main__":
sm['controlsState'] = msg.controlsState
elif msg.which() == 'modelV2':
sm['modelV2'] = msg.modelV2
elif msg.which() == 'carOutput':
sm['carOutput'] = msg.carOutput
if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm:
if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm and 'carOutput' in sm:
tool.update(sm)
else: