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Torque Controller Update

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firestar5683
2026-01-18 13:48:08 -06:00
parent 25a7090c3d
commit f0fefb6e13
2 changed files with 53 additions and 1 deletions
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selfdrive/car/gm/interface.py
+6
View File
@@ -222,6 +222,12 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Bolt-only lateral tuning overrides
ret.lateralTuning.torque.kp = 1.03
ret.lateralTuning.torque.ki = 1.07
ret.lateralTuning.torque.kd = 0.93
ret.lateralTuning.torque.kfDEPRECATED = 0.02
if ret.enableGasInterceptor:
# ACC Bolts use pedal for full longitudinal control, not just sng
ret.flags |= GMFlags.PEDAL_LONG.value
selfdrive/controls/lib/latcontrol_torque.py
+47 -1
View File
@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_
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, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.car.gm.values import CAR as GM_CAR
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -36,6 +37,13 @@ JERK_LOOKAHEAD_SECONDS = 0.19
JERK_GAIN = 0.22
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 2
DEBUG_TORQUE_TUNE = False
FF_SCALE_BLEND_LAT_ACCEL = 0.05
DEADZONE_BOOST_LAT_ACCEL = 0.08
UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
BOLT_CARS = (GM_CAR.CHEVROLET_BOLT_EUV, GM_CAR.CHEVROLET_BOLT_CC)
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
@@ -53,6 +61,21 @@ class LatControlTorque(LatControl):
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)
self.debug_counter = 0
self.prev_desired_lateral_accel = 0.0
self.is_bolt = CP.carFingerprint in BOLT_CARS
self.torque_ff_scale_pos = 1.0
self.torque_ff_scale_neg = 1.0
self.torque_deadzone_boost_neg = 0.0
self.torque_ki_mult = 1.0
if self.is_bolt:
self.torque_ff_scale_pos = float(self.torque_params.kp)
self.torque_ff_scale_neg = float(self.torque_params.ki)
self.torque_ki_mult = float(self.torque_params.kd)
self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
@@ -74,6 +97,7 @@ class LatControlTorque(LatControl):
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)
self.prev_desired_lateral_accel = 0.0
else:
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
@@ -89,6 +113,10 @@ class LatControlTorque(LatControl):
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 + desired_lateral_jerk * lat_delay
desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
self.prev_desired_lateral_accel = setpoint
measurement = measured_curvature * CS.vEgo ** 2
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
@@ -105,11 +133,23 @@ class LatControlTorque(LatControl):
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_scale = 1.0
if self.is_bolt:
ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
[self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
ff *= ff_scale
ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
deadzone_boost_active = False
if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
ff -= self.torque_deadzone_boost_neg * boost_scale
deadzone_boost_active = True
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
freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
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)
@@ -124,5 +164,11 @@ class LatControlTorque(LatControl):
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))
if DEBUG_TORQUE_TUNE and self.is_bolt:
self.debug_counter += 1
if self.debug_counter % 50 == 0:
print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log