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Update latcontrol_torque.py

interp friction threshold
This commit is contained in:
firestar5683
2025-12-06 15:58:03 -06:00
parent 721d39ef1f
commit 8dae3d375c
6 changed files with 51 additions and 25 deletions
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frogpilot/ui/qt/offroad/lateral_settings.cc
+3 -4
View File
@@ -340,7 +340,6 @@ void FrogPilotLateralPanel::updateToggles() {
}
}
bool forcingAutoTune = !parent->hasAutoTune && params.getBool("ForceAutoTune");
bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
@@ -401,7 +400,7 @@ void FrogPilotLateralPanel::updateToggles() {
else if (key == "SteerFriction") {
setVisible &= parent->friction != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
@@ -413,14 +412,14 @@ void FrogPilotLateralPanel::updateToggles() {
else if (key == "SteerLatAccel") {
setVisible &= parent->latAccelFactor != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
else if (key == "SteerRatio") {
setVisible &= parent->steerRatio != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : true;
}
toggle->setVisible(setVisible);
selfdrive/car/gm/interface.py
+1 -1
View File
@@ -8,7 +8,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
ButtonType = car.CarState.ButtonEvent.Type
selfdrive/car/interfaces.py
+6 -1
View File
@@ -37,7 +37,12 @@ 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 = 0.09
def get_friction_threshold(v_ego):
# Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
from openpilot.common.numpy_fast import interp
return interp(v_ego, [50 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.09, 0.15])
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')
selfdrive/controls/controlsd.py
+10
View File
@@ -626,6 +626,16 @@ class Controls:
if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
torque_params.frictionCoefficientFiltered)
elif self.frogpilot_toggles.use_custom_friction or self.frogpilot_toggles.use_custom_latAccelFactor:
lat_accel_factor = self.frogpilot_toggles.latAccelFactor if self.frogpilot_toggles.use_custom_latAccelFactor else self.CP.lateralTuning.torque.latAccelFactor
friction = self.frogpilot_toggles.friction if self.frogpilot_toggles.use_custom_friction else self.CP.lateralTuning.torque.friction
self.LaC.update_live_torque_params(lat_accel_factor, self.CP.lateralTuning.torque.latAccelOffset, friction)
else:
# Use manual parameter values from settings panel
lat_accel_factor = self.params.get_float("SteerLatAccel")
friction = self.params.get_float("SteerFriction")
steer_ratio = self.params.get_float("SteerRatio")
self.LaC.update_live_torque_params(lat_accel_factor, self.CP.lateralTuning.torque.latAccelOffset, friction)
if self.sm.updated['liveDelay'] and hasattr(self.LaC, "update_live_delay"):
self.LaC.update_live_delay(self.sm['liveDelay'].lateralDelay)
selfdrive/controls/lib/events.py
+1 -1
View File
@@ -978,7 +978,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.reverseGear: {
ET.PERMANENT: Alert(
"Wrong\nGear",
"Reverse\nGear",
"",
AlertStatus.normal, AlertSize.full,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
selfdrive/controls/lib/latcontrol_torque.py
+30 -18
View File
@@ -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.car.interfaces import FRICTION_THRESHOLD, get_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
@@ -23,13 +23,19 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
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]
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [12, 10.5, 8, 5]
MAX_LAT_JERK_UP = 2.5 # m/s^3
LP_FILTER_CUTOFF_HZ = 1.2
JERK_LOOKAHEAD_SECONDS = 0.19
JERK_GAIN = 0.22
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
VERSION = 2
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -37,13 +43,15 @@ 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([INTERP_SPEEDS, KP_INTERP], KI, KD, 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.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)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
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
@@ -61,6 +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
@@ -69,33 +81,33 @@ 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]
# 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.lat_accel_request_buffer.append(future_desired_lateral_accel)
raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
raw_lateral_jerk = np.clip(raw_lateral_jerk, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
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 + desired_lateral_jerk * lat_delay
measurement = measured_curvature * CS.vEgo ** 2
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
self.previous_measurement = measurement
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
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
# 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_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), 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, 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
@@ -110,4 +122,4 @@ class LatControlTorque(LatControl):
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