diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f32ca9ec1..734d4742c 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -37,7 +37,7 @@ EventName = car.CarEvent.EventName MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 -FRICTION_THRESHOLD = 0.3 +FRICTION_THRESHOLD = 0.2 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index e9842c2a2..3871e221e 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -3,9 +3,9 @@ import numpy as np from collections import deque from cereal import log -from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY @@ -16,29 +16,36 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G # wheel slip, or to speed. # This controller applies torque to achieve desired lateral -# accelerations. To compensate for the low speed effects we -# use a LOW_SPEED_FACTOR in the error. Additionally, there is -# friction in the steering wheel that needs to be overcome to -# move it at all, this is compensated for too. +# accelerations. To compensate for the low speed effects the +# proportional gain is increased at low speeds by the PID controller. +# Additionally, there is friction in the steering wheel that needs +# to be overcome to move it at all, this is compensated for too. -LOW_SPEED_X = [0, 10, 20, 30] -LOW_SPEED_Y = [15, 13, 10, 5] +KP = 0.6 +KI = 0.15 -MAX_LAT_JERK_UP = 2.5 # m/s^3 +INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30] +KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP] + +LP_FILTER_CUTOFF_HZ = 1.2 +JERK_LOOKAHEAD_SECONDS = 0.19 +JERK_GAIN = 0.3 +LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0 +VERSION = 1 class LatControlTorque(LatControl): def __init__(self, CP, CI, dt): super().__init__(CP, CI, dt) - self.torque_params = CP.lateralTuning.torque + self.torque_params = CP.lateralTuning.torque.as_builder() self.torque_from_lateral_accel = CI.torque_from_lateral_accel() self.lateral_accel_from_torque = CI.lateral_accel_from_torque() - self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt) + self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt) self.update_limits() self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg - self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt) - self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES) - self.previous_measurement = 0.0 - self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt) + self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt) + self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len) + self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt) + self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt) def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor @@ -52,6 +59,7 @@ class LatControlTorque(LatControl): def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles): pid_log = log.ControlsState.LateralTorqueState.new_message() + pid_log.version = VERSION if not active: output_torque = 0.0 pid_log.active = False @@ -61,37 +69,28 @@ class LatControlTorque(LatControl): curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)) - expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames] - # TODO factor out lateral jerk from error to later replace it with delay independent alternative + delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len)) + expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] + lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2)) + raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt) + desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2 - self.requested_lateral_accel_buffer.append(future_desired_lateral_accel) + self.lat_accel_request_buffer.append(future_desired_lateral_accel) gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation - desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay + setpoint = expected_lateral_accel measurement = measured_curvature * CS.vEgo ** 2 - measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt) - self.previous_measurement = measurement - - low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2 - setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel error = setpoint - measurement - error_lsf = error + low_speed_factor / self.torque_params.kp * error # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly - pid_log.error = float(error_lsf) + pid_log.error = float(error) ff = gravity_adjusted_future_lateral_accel # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll ff -= self.torque_params.latAccelOffset - # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it - ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) + ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 - output_lataccel = self.pid.update(pid_log.error, - -measurement_rate, - feedforward=ff, - speed=CS.vEgo, - freeze_integrator=freeze_integrator) + output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator) output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params) pid_log.active = True @@ -99,9 +98,10 @@ class LatControlTorque(LatControl): pid_log.i = float(self.pid.i) pid_log.d = float(self.pid.d) pid_log.f = float(self.pid.f) - pid_log.output = float(-output_torque) # TODO: log lat accel? + pid_log.output = float(-output_torque) # TODO: log lat accel? pid_log.actualLateralAccel = float(measurement) pid_log.desiredLateralAccel = float(setpoint) + pid_log.desiredLateralJerk = float(desired_lateral_jerk) pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited)) # TODO left is positive in this convention