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firestar5683
38 lines
1.3 KiB
Python
38 lines
1.3 KiB
Python
import numpy as np
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from abc import abstractmethod, ABC
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from openpilot.common.realtime import DT_CTRL
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MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s
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class LatControl(ABC):
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def __init__(self, CP, CI):
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self.sat_count_rate = 1.0 * DT_CTRL
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self.sat_limit = CP.steerLimitTimer
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self.sat_count = 0.
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self.sat_check_min_speed = 10.
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# we define the steer torque scale as [-1.0...1.0]
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self.steer_max = 1.0
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@abstractmethod
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def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, llk, model_data, frogpilot_toggles):
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pass
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def reset(self):
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self.sat_count = 0.
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def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
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# Treat either controller saturation, curvature limiting, or the safety layer
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# clamping the request as a saturation event. The additional safety check
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# catches cases where the torque request is being clipped
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saturated = saturated or curvature_limited or steer_limited_by_safety
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if saturated and CS.vEgo > self.sat_check_min_speed and not CS.steeringPressed:
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self.sat_count += self.sat_count_rate
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else:
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self.sat_count -= self.sat_count_rate
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self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
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return self.sat_count > (self.sat_limit - 1e-3)
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