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https://github.com/firestar5683/StarPilot.git
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firestar5683
102 lines
4.4 KiB
Python
102 lines
4.4 KiB
Python
import math
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from cereal import log
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from opendbc.car.subaru.values import CAR as SUBARU_CAR
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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# TODO This is speed dependent
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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_ASCENT_ANGLE_TRACKING_GAIN = 0.25
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_ASCENT_ANGLE_TRACKING_MAX_CORRECTION = 8.0
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_ASCENT_ANGLE_TRACKING_MIN_SPEED = 9.0
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_ASCENT_ANGLE_TRACKING_FULL_SPEED = 15.0
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_ASCENT_ANGLE_TRACKING_TURN_START = 15.0
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_ASCENT_ANGLE_TRACKING_TURN_FULL = 35.0
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_ASCENT_LOW_SPEED_FILTER_MAX_SPEED = 10.0
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_ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE = 35.0
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_ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT = 0.18
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def _clipped_weight(value: float, start: float, end: float) -> float:
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return max(0.0, min(1.0, (value - start) / (end - start)))
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def _ascent_angle_tracking_target(target_angle: float, steering_angle: float,
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v_ego: float, steering_pressed: bool) -> float:
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if steering_pressed:
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return target_angle
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speed_weight = _clipped_weight(v_ego, _ASCENT_ANGLE_TRACKING_MIN_SPEED, _ASCENT_ANGLE_TRACKING_FULL_SPEED)
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turn_weight = _clipped_weight(abs(target_angle), _ASCENT_ANGLE_TRACKING_TURN_START, _ASCENT_ANGLE_TRACKING_TURN_FULL)
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correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN * max(speed_weight, turn_weight)
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correction = max(-_ASCENT_ANGLE_TRACKING_MAX_CORRECTION,
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min(_ASCENT_ANGLE_TRACKING_MAX_CORRECTION, correction))
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return target_angle + correction
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def _ascent_low_speed_angle_target(target_angle: float, previous_target: float,
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v_ego: float, steering_pressed: bool, dt: float) -> float:
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if steering_pressed:
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return target_angle
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speed_weight = 1.0 - _clipped_weight(v_ego, 0.0, _ASCENT_LOW_SPEED_FILTER_MAX_SPEED)
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center_weight = 1.0 - _clipped_weight(abs(target_angle), 0.0, _ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE)
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time_constant = _ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT * speed_weight * center_weight
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if time_constant <= 0.0:
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return target_angle
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alpha = dt / (time_constant + dt)
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return previous_target + alpha * (target_angle - previous_target)
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class LatControlAngle(LatControl):
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def __init__(self, CP, CI, dt):
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super().__init__(CP, CI, dt)
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self.sat_check_min_speed = 5.
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self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
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self.is_ascent = CP.carFingerprint == SUBARU_CAR.SUBARU_ASCENT_2023
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self.ascent_angle_target = None
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def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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self.ascent_angle_target = angle_steers_des
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else:
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angle_log.active = True
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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if self.is_ascent:
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if self.ascent_angle_target is None:
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self.ascent_angle_target = float(CS.steeringAngleDeg)
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self.ascent_angle_target = _ascent_low_speed_angle_target(
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angle_steers_des,
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self.ascent_angle_target,
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CS.vEgo,
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bool(getattr(CS, "steeringPressed", False)),
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self.dt,
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)
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angle_steers_des = _ascent_angle_tracking_target(
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self.ascent_angle_target,
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CS.steeringAngleDeg,
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CS.vEgo,
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bool(getattr(CS, "steeringPressed", False)),
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)
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if self.use_steer_limited_by_safety:
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# these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
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angle_control_saturated = steer_limited_by_safety
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else:
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# for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
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# or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved
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angle_error = angle_steers_des - CS.steeringAngleDeg
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angle_control_saturated = abs(angle_error) > STEER_ANGLE_SATURATION_THRESHOLD
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angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
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angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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angle_log.steeringAngleDesiredDeg = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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