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LattyBoi2.0

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firestar5683
2025-12-03 09:59:43 -06:00
parent 190dc98180
commit 488f821983
1 changed files with 23 additions and 18 deletions
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selfdrive/controls/lib/latcontrol_torque.py
+23 -18
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@@ -16,15 +16,20 @@ 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 = 0.3
KD = 0.0
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]
MAX_LAT_JERK_UP = 2.5 # m/s^3
LP_FILTER_CUTOFF_HZ = 1.2
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -32,13 +37,13 @@ class LatControlTorque(LatControl):
self.torque_params = CP.lateralTuning.torque
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, KD, 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.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.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
self.measurement_rate_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 +57,7 @@ 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
@@ -61,11 +67,11 @@ 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]
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]
# TODO factor out lateral jerk from error to later replace it with delay independent alternative
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
@@ -73,13 +79,11 @@ class LatControlTorque(LatControl):
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
@@ -102,7 +106,8 @@ class LatControlTorque(LatControl):
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
return -output_torque, 0.0, pid_log
return -output_torque, 0.0, pid_log