From 750638ac6aa293d7b81750c9e3639edbe7bb95e4 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Sun, 7 Dec 2025 20:29:52 -0600 Subject: [PATCH] Nobody try this til I say so --- selfdrive/controls/lib/latcontrol_torque.py | 33 +++++++++++++++------ 1 file changed, 24 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index d0398edd0..3fb95371f 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -22,16 +22,20 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G # to be overcome to move it at all, this is compensated for too. KP = 0.6 -KI = 0.28 +KI = 0.3 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] +LOW_SPEED_X = [0, 10, 20, 30] +LOW_SPEED_Y = [15, 13, 10, 5] +MAX_LAT_JERK_UP = 2.5 # m/s^3 + LP_FILTER_CUTOFF_HZ = 1.2 JERK_LOOKAHEAD_SECONDS = 0.19 JERK_GAIN = 0.3 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0 -VERSION = 1 +VERSION = 2 class LatControlTorque(LatControl): def __init__(self, CP, CI, dt): @@ -46,6 +50,8 @@ class LatControlTorque(LatControl): 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) + self.previous_measurement = 0.0 + self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt) def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor @@ -63,6 +69,10 @@ class LatControlTorque(LatControl): if not active: output_torque = 0.0 pid_log.active = False + self.pid.reset() + self.previous_measurement = 0.0 + self.measurement_rate_filter.x = 0.0 + self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len) else: measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY @@ -71,26 +81,31 @@ class LatControlTorque(LatControl): 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.lat_accel_request_buffer.append(future_desired_lateral_accel) + raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt) + desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation - setpoint = expected_lateral_accel + setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay 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 + current_kp = np.interp(CS.vEgo, self.pid._k_p[0], self.pid._k_p[1]) error = setpoint - measurement + error_with_lsf = error * (1 + low_speed_factor / max(current_kp, 1e-3)) # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly - pid_log.error = float(error) + pid_log.error = float(error_with_lsf) ff = gravity_adjusted_future_lateral_accel # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll ff -= self.torque_params.latAccelOffset - ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params) + ff += get_friction(error_with_lsf + 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, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator) + output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, 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