Remove curv factor (#20011)

* cleaning crew

* need that to match

* smooth factor

* that didn't really work

* closer to previous

* new ref

* new names
old-commit-hash: 61a4e3e66179c731aee9d631675c23936d7da7fb

selfdrive/controls/lib/lateral_mpc/generator.cpp

@@ -17,20 +17,19 @@ int main( )
   DifferentialState xx; // x position
   DifferentialState yy; // y position
   DifferentialState psi; // vehicle heading
-  DifferentialState tire_angle;
+  DifferentialState curvature;
 
-  OnlineData curvature_factor;
   OnlineData v_ego;
   OnlineData rotation_radius;
 
-  Control tire_angle_rate;
+  Control curvature_rate;
   
 
   // Equations of motion
-  f << dot(xx) == v_ego * cos(psi) - rotation_radius * sin(psi) * (v_ego * tire_angle *curvature_factor);
-  f << dot(yy) == v_ego * sin(psi) + rotation_radius * cos(psi) * (v_ego * tire_angle *curvature_factor);
-  f << dot(psi) == v_ego * tire_angle * curvature_factor;
-  f << dot(tire_angle) == tire_angle_rate;
+  f << dot(xx) == v_ego * cos(psi) - rotation_radius * sin(psi) * (v_ego * curvature);
+  f << dot(yy) == v_ego * sin(psi) + rotation_radius * cos(psi) * (v_ego * curvature);
+  f << dot(psi) == v_ego * curvature;
+  f << dot(curvature) == curvature_rate;
 
   // Running cost
   Function h;
@@ -42,7 +41,7 @@ int main( )
   h << (v_ego + 1.0 ) * psi;
 
   // Angular rate error
-  h << (v_ego + 1.0 ) * tire_angle_rate;
+  h << (v_ego + 1.0) * 4 * curvature_rate;
 
   BMatrix Q(3,3); Q.setAll(true);
   // Q(0,0) = 1.0;
@@ -78,8 +77,8 @@ int main( )
   // car can't go backward to avoid "circles"
   ocp.subjectTo( deg2rad(-90) <= psi <= deg2rad(90));
   // more than absolute max steer angle
-  ocp.subjectTo( deg2rad(-50) <= tire_angle <= deg2rad(50));
-  ocp.setNOD(3);
+  ocp.subjectTo( deg2rad(-50) <= curvature <= deg2rad(50));
+  ocp.setNOD(2);
 
   OCPexport mpc(ocp);
   mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );

selfdrive/controls/lib/lateral_mpc/lateral_mpc.c

@@ -63,14 +63,13 @@ void init(double pathCost, double headingCost, double steerRateCost){
 }
 
 int run_mpc(state_t * x0, log_t * solution, double v_ego,
-             double curvature_factor, double rotation_radius, double target_y[N+1], double target_psi[N+1]){
+             double rotation_radius, double target_y[N+1], double target_psi[N+1]){
 
   int    i;
 
   for (i = 0; i <= NOD * N; i+= NOD){
-    acadoVariables.od[i] = curvature_factor;
-    acadoVariables.od[i+1] = v_ego;
-    acadoVariables.od[i+2] = rotation_radius;
+    acadoVariables.od[i] = v_ego;
+    acadoVariables.od[i+1] = rotation_radius;
   }
   for (i = 0; i < N; i+= 1){
     acadoVariables.y[NY*i + 0] = target_y[i];

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_common.h

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:16f6549e3f9731d8154541f11f8e663df3e0fe1d6b095bf01dd0cf16e0bf9267
+oid sha256:1879f4c6bd1474b9de2ecf966781598e1bdbefea7f5e7c064da647df9d401133
 size 8752

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_integrator.c

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:454572df20b2ec7e4c0ec463f832f8b22c5735db5e3fd1f6302a7d101251c0c1
-size 19322
+oid sha256:4f02dc89c46b658a91722f8047abbe258bf051d46e63dbbb26f662a235149f34
+size 19058

selfdrive/controls/lib/lateral_mpc/lib_mpc_export/acado_solver.c

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3f8f5554059ca8472ec625771c7060ad93be05ba51963c5d4c4c577e6c765dbf
-size 243936
+oid sha256:5ba1e5ddf6b2f2cedaf735f105951854666a75279b25b95e5fa64422964f4a79
+size 243595

selfdrive/controls/lib/lateral_mpc/libmpc_py.py

@@ -9,7 +9,7 @@ libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())
 ffi = FFI()
 ffi.cdef("""
 typedef struct {
-    double x, y, psi, tire_angle, tire_angle_rate;
+    double x, y, psi, curvature, curvature_rate;
 } state_t;
 int N = 16;
 
@@ -17,15 +17,15 @@ typedef struct {
     double x[N+1];
     double y[N+1];
     double psi[N+1];
-    double tire_angle[N+1];
-    double tire_angle_rate[N];
+    double curvature[N+1];
+    double curvature_rate[N];
     double cost;
 } log_t;
 
 void init(double pathCost, double headingCost, double steerRateCost);
 void init_weights(double pathCost, double headingCost, double steerRateCost);
 int run_mpc(state_t * x0, log_t * solution,
-             double v_ego, double curvature_factor, double rotation_radius,
+             double v_ego, double rotation_radius,
              double target_y[N+1], double target_psi[N+1]);
 """)
 

selfdrive/controls/lib/pathplanner.py

@@ -73,7 +73,7 @@ class PathPlanner():
     self.cur_state[0].x = 0.0
     self.cur_state[0].y = 0.0
     self.cur_state[0].psi = 0.0
-    self.cur_state[0].tire_angle = 0.0
+    self.cur_state[0].curvature = 0.0
 
     self.angle_steers_des = 0.0
     self.angle_steers_des_mpc = 0.0
@@ -84,14 +84,13 @@ class PathPlanner():
     active = sm['controlsState'].active
     steering_wheel_angle_offset_deg = sm['liveParameters'].angleOffset
     steering_wheel_angle_deg = sm['carState'].steeringAngle
-    measured_tire_angle = -math.radians(steering_wheel_angle_deg - steering_wheel_angle_offset_deg) / VM.sR
-
 
     # Update vehicle model
     x = max(sm['liveParameters'].stiffnessFactor, 0.1)
     sr = max(sm['liveParameters'].steerRatio, 0.1)
     VM.update_params(x, sr)
     curvature_factor = VM.curvature_factor(v_ego)
+    measured_curvature = -curvature_factor * math.radians(steering_wheel_angle_deg - steering_wheel_angle_offset_deg) / VM.sR
 
 
     md = sm['modelV2']
@@ -176,7 +175,6 @@ class PathPlanner():
     assert len(heading_pts) == MPC_N + 1
     self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
                         float(v_ego_mpc),
-                        curvature_factor,
                         CAR_ROTATION_RADIUS,
                         list(y_pts),
                         list(heading_pts))
@@ -184,39 +182,39 @@ class PathPlanner():
     self.cur_state.x = 0.0
     self.cur_state.y = 0.0
     self.cur_state.psi = 0.0
-    self.cur_state.tire_angle = interp(DT_MDL, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle)
+    self.cur_state.curvature = interp(DT_MDL, self.t_idxs[:MPC_N+1], self.mpc_solution.curvature)
 
     # TODO this needs more thought, use .2s extra for now to estimate other delays
     delay = CP.steerActuatorDelay + .2
-    next_tire_angle = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.tire_angle)
-    next_tire_angle_rate = self.mpc_solution.tire_angle_rate[0]
+    next_curvature = interp(DT_MDL + delay, self.t_idxs[:MPC_N+1], self.mpc_solution.curvature)
+    next_curvature_rate = self.mpc_solution.curvature_rate[0]
 
     # TODO This gets around the fact that MPC can plan to turn and turn back in the
     # time between now and delay, need better abstraction between planner and controls
     plan_ahead_idx = sum(self.t_idxs < delay)
-    if next_tire_angle_rate > 0:
-      next_tire_angle = max(list(self.mpc_solution.tire_angle)[:plan_ahead_idx] + [next_tire_angle])
+    if next_curvature_rate > 0:
+      next_curvature = max(list(self.mpc_solution.curvature)[:plan_ahead_idx] + [next_curvature])
     else:
-      next_tire_angle = min(list(self.mpc_solution.tire_angle)[:plan_ahead_idx] + [next_tire_angle])
+      next_curvature = min(list(self.mpc_solution.curvature)[:plan_ahead_idx] + [next_curvature])
 
     # reset to current steer angle if not active or overriding
     if active:
-      tire_angle_desired = next_tire_angle
-      desired_tire_angle_rate = next_tire_angle_rate
+      curvature_desired = next_curvature
+      desired_curvature_rate = next_curvature_rate
     else:
-      tire_angle_desired = measured_tire_angle
-      desired_tire_angle_rate = 0.0
+      curvature_desired = measured_curvature
+      desired_curvature_rate = 0.0
 
     # negative sign, controls uses different convention
-    self.desired_steering_wheel_angle_deg = -float(math.degrees(tire_angle_desired * VM.sR)) + steering_wheel_angle_offset_deg
-    self.desired_steering_wheel_angle_rate_deg = -float(math.degrees(desired_tire_angle_rate * VM.sR))
+    self.desired_steering_wheel_angle_deg = -float(math.degrees(curvature_desired * VM.sR)/curvature_factor) + steering_wheel_angle_offset_deg
+    self.desired_steering_wheel_angle_rate_deg = -float(math.degrees(desired_curvature_rate * VM.sR)/curvature_factor)
 
     #  Check for infeasable MPC solution
-    mpc_nans = any(math.isnan(x) for x in self.mpc_solution.tire_angle)
+    mpc_nans = any(math.isnan(x) for x in self.mpc_solution.curvature)
     t = sec_since_boot()
     if mpc_nans:
       self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
-      self.cur_state.tire_angle = measured_tire_angle
+      self.cur_state.curvature = measured_curvature
 
       if t > self.last_cloudlog_t + 5.0:
         self.last_cloudlog_t = t

selfdrive/controls/tests/test_lateral_mpc.py

@@ -1,12 +1,10 @@
 import unittest
 import numpy as np
-from selfdrive.car.honda.interface import CarInterface
 from selfdrive.controls.lib.lateral_mpc import libmpc_py
-from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.drive_helpers import MPC_N, CAR_ROTATION_RADIUS
 
 
-def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., tire_angle_init=0.,
+def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
             lane_width=3.6, poly_shift=0.):
 
   libmpc = libmpc_py.libmpc
@@ -17,21 +15,17 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., tire_angle_init=0.,
   y_pts = poly_shift * np.ones(MPC_N + 1)
   heading_pts = np.zeros(MPC_N + 1)
 
-  CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
-  VM = VehicleModel(CP)
-
-  curvature_factor = VM.curvature_factor(v_ref)
 
   cur_state = libmpc_py.ffi.new("state_t *")
   cur_state.x = x_init
   cur_state.y = y_init
   cur_state.psi = psi_init
-  cur_state.tire_angle = tire_angle_init
+  cur_state.curvature = curvature_init
 
   # converge in no more than 20 iterations
   for _ in range(20):
     libmpc.run_mpc(cur_state, mpc_solution, v_ref,
-                   curvature_factor, CAR_ROTATION_RADIUS,
+                   CAR_ROTATION_RADIUS,
                    list(y_pts), list(heading_pts))
 
   return mpc_solution
@@ -39,26 +33,26 @@ def run_mpc(v_ref=30., x_init=0., y_init=0., psi_init=0., tire_angle_init=0.,
 
 class TestLateralMpc(unittest.TestCase):
 
-  def _assert_null(self, sol, tire_angle=1e-6):
+  def _assert_null(self, sol, curvature=1e-6):
     for i in range(len(sol[0].y)):
-      self.assertAlmostEqual(sol[0].y[i], 0., delta=tire_angle)
-      self.assertAlmostEqual(sol[0].psi[i], 0., delta=tire_angle)
-      self.assertAlmostEqual(sol[0].tire_angle[i], 0., delta=tire_angle)
+      self.assertAlmostEqual(sol[0].y[i], 0., delta=curvature)
+      self.assertAlmostEqual(sol[0].psi[i], 0., delta=curvature)
+      self.assertAlmostEqual(sol[0].curvature[i], 0., delta=curvature)
 
-  def _assert_simmetry(self, sol, tire_angle=1e-6):
+  def _assert_simmetry(self, sol, curvature=1e-6):
     for i in range(len(sol[0][0].y)):
-      self.assertAlmostEqual(sol[0][0].y[i], -sol[1][0].y[i], delta=tire_angle)
-      self.assertAlmostEqual(sol[0][0].psi[i], -sol[1][0].psi[i], delta=tire_angle)
-      self.assertAlmostEqual(sol[0][0].tire_angle[i], -sol[1][0].tire_angle[i], delta=tire_angle)
-      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=tire_angle)
+      self.assertAlmostEqual(sol[0][0].y[i], -sol[1][0].y[i], delta=curvature)
+      self.assertAlmostEqual(sol[0][0].psi[i], -sol[1][0].psi[i], delta=curvature)
+      self.assertAlmostEqual(sol[0][0].curvature[i], -sol[1][0].curvature[i], delta=curvature)
+      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=curvature)
 
-  def _assert_identity(self, sol, ignore_y=False, tire_angle=1e-6):
+  def _assert_identity(self, sol, ignore_y=False, curvature=1e-6):
     for i in range(len(sol[0][0].y)):
-      self.assertAlmostEqual(sol[0][0].psi[i], sol[1][0].psi[i], delta=tire_angle)
-      self.assertAlmostEqual(sol[0][0].tire_angle[i], sol[1][0].tire_angle[i], delta=tire_angle)
-      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=tire_angle)
+      self.assertAlmostEqual(sol[0][0].psi[i], sol[1][0].psi[i], delta=curvature)
+      self.assertAlmostEqual(sol[0][0].curvature[i], sol[1][0].curvature[i], delta=curvature)
+      self.assertAlmostEqual(sol[0][0].x[i], sol[1][0].x[i], delta=curvature)
       if not ignore_y:
-        self.assertAlmostEqual(sol[0][0].y[i], sol[1][0].y[i], delta=tire_angle)
+        self.assertAlmostEqual(sol[0][0].y[i], sol[1][0].y[i], delta=curvature)
 
   def test_straight(self):
     sol = run_mpc()
@@ -76,10 +70,10 @@ class TestLateralMpc(unittest.TestCase):
       sol.append(run_mpc(poly_shift=poly_shift))
     self._assert_simmetry(sol)
 
-  def test_tire_angle_symmetry(self):
+  def test_curvature_symmetry(self):
     sol = []
-    for tire_angle_init in [-0.1, 0.1]:
-      sol.append(run_mpc(tire_angle_init=tire_angle_init))
+    for curvature_init in [-0.1, 0.1]:
+      sol.append(run_mpc(curvature_init=curvature_init))
     self._assert_simmetry(sol)
 
   def test_psi_symmetry(self):
@@ -93,9 +87,9 @@ class TestLateralMpc(unittest.TestCase):
     sol = []
     sol.append(run_mpc(y_init=shift))
     sol.append(run_mpc(poly_shift=-shift))
-    # need larger tire_angle than standard, otherwise it false triggers.
+    # need larger curvature than standard, otherwise it false triggers.
     # this is acceptable because the 2 cases are very different from the optimizer standpoint
-    self._assert_identity(sol, ignore_y=True, tire_angle=1e-5)
+    self._assert_identity(sol, ignore_y=True, curvature=1e-5)
 
   def test_no_overshoot(self):
     y_init = 1.

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-537244985e387f5d290d0deaaf900dc8231d13f8
+2ecf7c5d8816aaf70dc42a5ec37a0106fcd42799