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New Torque Controller

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firestar5683
2025-12-07 20:29:52 -06:00
parent 77160afa1a
commit af4b46c96e
4 changed files with 45 additions and 17 deletions
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selfdrive/car/gm/interface.py
+1 -1
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@@ -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
+5
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@@ -39,6 +39,11 @@ ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
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, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.09, 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')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
selfdrive/controls/lib/latcontrol_pid.py
+5 -2
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@@ -1,7 +1,7 @@
import math
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.pid import PIDController
@@ -13,6 +13,7 @@ class LatControlPID(LatControl):
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.ff_factor = CP.lateralTuning.pid.kf
self.get_steer_feedforward = CI.get_steer_feedforward_function()
self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
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.LateralPIDState.new_message()
@@ -32,7 +33,9 @@ class LatControlPID(LatControl):
else:
# offset does not contribute to resistive torque
ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
if CS.vEgo < self.low_speed_reset_threshold:
self.pid.reset()
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
output_torque = self.pid.update(error,
feedforward=ff,
selfdrive/controls/lib/latcontrol_torque.py
+34 -14
View File
@@ -3,10 +3,10 @@ import numpy as np
from collections import deque
from cereal import log
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.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -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 = [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 = 0.3
JERK_GAIN = 0.22
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 1
VERSION = 2
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -46,6 +50,9 @@ 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)
self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
@@ -63,6 +70,10 @@ 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 +82,35 @@ 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)
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
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)
measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
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, 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, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
if CS.vEgo < self.low_speed_reset_threshold:
self.pid.reset()
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
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
@@ -105,4 +125,4 @@ 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