NNLC: decreased low-speed factor (#822)

* NNLC: decreased low-speed factor

* np.float to float

* format

* add tests for sanity check

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

selfdrive/controls/lib/latcontrol_torque.py

@@ -80,7 +80,8 @@ class LatControlTorque(LatControl):
       # Lateral acceleration torque controller extension updates
       # Overrides stock ff and pid_log.error
       ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
 
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py

@@ -13,7 +13,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     super().__init__(lac_torque, CP, CP_SP)
 
   def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
+             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+             desired_curvature, actual_curvature):
     self._ff = ff
     self._pid_log = pid_log
     self._setpoint = setpoint
@@ -21,6 +22,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
+    self._desired_curvature = desired_curvature
+    self._actual_curvature = actual_curvature
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -62,6 +62,8 @@ class LatControlTorqueExtBase:
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
+    self._desired_curvature = 0.0
+    self._actual_curvature = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -16,6 +16,9 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base impo
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [12, 3, 1, 0]
+
 
 # At a given roll, if pitch magnitude increases, the
 # gravitational acceleration component starts pointing
@@ -59,6 +62,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
 
+    low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
+    self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
+    self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
+
     # update past data
     roll = params.roll
     if calibrated_pose is not None:

sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

@@ -0,0 +1,56 @@
+from parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
+
+class TestNeuralNetworkLateralControl:
+
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_saturation(self, car_name):
+    params = Params()
+    params.put_bool("NeuralNetworkLateralControl", True)
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+
+    CP_SP = convert_to_capnp(CP_SP)
+    VM = VehicleModel(CP)
+
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
+    # Saturate for curvature limited and controller limited
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+    assert lac_log.saturated