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Vehicle Researcher
23 lines
956 B
Python
23 lines
956 B
Python
from common.numpy_fast import clip
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def rate_limit(new_value, last_value, dw_step, up_step):
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return clip(new_value, last_value + dw_step, last_value + up_step)
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def learn_angle_offset(lateral_control, v_ego, angle_offset, c_poly, c_prob, y_des, steer_override):
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# simple integral controller that learns how much steering offset to put to have the car going straight
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# while being in the middle of the lane
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min_offset = -5. # deg
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max_offset = 5. # deg
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alpha = 1./36000. # correct by 1 deg in 2 mins, at 30m/s, with 50cm of error, at 20Hz
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min_learn_speed = 1.
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# learn less at low speed or when turning
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alpha_v = alpha * c_prob * (max(v_ego - min_learn_speed, 0.)) / (1. + 0.5*abs(y_des))
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# only learn if lateral control is active and if driver is not overriding:
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if lateral_control and not steer_override:
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angle_offset += c_poly[3] * alpha_v
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angle_offset = clip(angle_offset, min_offset, max_offset)
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return angle_offset
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