mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-01 19:42:07 +08:00
firestar5683
107 lines
4.8 KiB
Python
107 lines
4.8 KiB
Python
import math
|
|
|
|
from cereal import log
|
|
from opendbc.car.honda.carcontroller import get_civic_bosch_modified_steering_pressed
|
|
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
|
|
from openpilot.starpilot.common.testing_grounds import testing_ground
|
|
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
|
from openpilot.common.pid import PIDController
|
|
|
|
|
|
def civic_bosch_modified_lateral_testing_ground_active() -> bool:
|
|
return testing_ground.use("8", "B")
|
|
|
|
|
|
def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
|
|
abs_angle = abs(desired_angle_deg)
|
|
if abs_angle < 8.0:
|
|
return 1.0
|
|
|
|
speed_weight = min(max((v_ego - 2.0) / 8.0, 0.0), 1.0)
|
|
angle_weight = min(max((abs_angle - 8.0) / 32.0, 0.0), 1.0)
|
|
phase = desired_angle_deg * desired_angle_delta_deg
|
|
|
|
is_left = desired_angle_deg > 0.0
|
|
base_scale = 0.02 if is_left else 0.05
|
|
turn_in_scale = 0.02 if is_left else 0.03
|
|
unwind_scale = 0.00 if is_left else 0.02
|
|
|
|
scale = 1.0 + (speed_weight * angle_weight * base_scale)
|
|
if phase > 0.2:
|
|
scale += speed_weight * angle_weight * turn_in_scale
|
|
elif phase < -0.2:
|
|
scale += speed_weight * angle_weight * unwind_scale
|
|
|
|
return scale
|
|
|
|
|
|
class LatControlPID(LatControl):
|
|
def __init__(self, CP, CI, dt):
|
|
super().__init__(CP, CI, dt)
|
|
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
|
|
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
|
|
pos_limit=self.steer_max, neg_limit=-self.steer_max)
|
|
self.ff_factor = CP.lateralTuning.pid.kf
|
|
self.get_steer_feedforward = CI.get_steer_feedforward_function()
|
|
self.is_civic_bosch_modified = CP.carFingerprint == HONDA.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
|
|
self.prev_angle_steers_des_no_offset = 0.0
|
|
self.modified_civic_steering_pressed_filter_s = 0.0
|
|
self.modified_civic_steering_pressed_prev = False
|
|
self.prev_output_torque = 0.0
|
|
|
|
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
|
|
pid_log = log.ControlsState.LateralPIDState.new_message()
|
|
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
|
|
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
|
|
|
|
angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
|
|
angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
|
|
error = angle_steers_des - CS.steeringAngleDeg
|
|
|
|
pid_log.steeringAngleDesiredDeg = angle_steers_des
|
|
pid_log.angleError = error
|
|
if not active:
|
|
output_torque = 0.0
|
|
pid_log.active = False
|
|
self.prev_angle_steers_des_no_offset = angle_steers_des_no_offset
|
|
self.modified_civic_steering_pressed_filter_s = 0.0
|
|
self.modified_civic_steering_pressed_prev = False
|
|
self.prev_output_torque = 0.0
|
|
|
|
else:
|
|
# offset does not contribute to resistive torque
|
|
ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
|
|
steering_pressed = CS.steeringPressed
|
|
if self.is_civic_bosch_modified:
|
|
self.modified_civic_steering_pressed_filter_s, steering_pressed = get_civic_bosch_modified_steering_pressed(
|
|
bool(CS.steeringPressed),
|
|
float(getattr(CS, "steeringTorque", 0.0)),
|
|
float(self.prev_output_torque),
|
|
self.modified_civic_steering_pressed_filter_s,
|
|
self.modified_civic_steering_pressed_prev,
|
|
)
|
|
self.modified_civic_steering_pressed_prev = steering_pressed
|
|
|
|
freeze_integrator = steer_limited_by_safety or steering_pressed or CS.vEgo < 5
|
|
|
|
output_torque = self.pid.update(error,
|
|
feedforward=ff,
|
|
speed=CS.vEgo,
|
|
freeze_integrator=freeze_integrator)
|
|
|
|
if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
|
|
desired_angle_delta = angle_steers_des_no_offset - self.prev_angle_steers_des_no_offset
|
|
output_torque *= get_civic_bosch_modified_pid_output_scale(angle_steers_des_no_offset, desired_angle_delta, CS.vEgo)
|
|
output_torque = float(max(min(output_torque, self.steer_max), -self.steer_max))
|
|
|
|
pid_log.active = True
|
|
pid_log.p = float(self.pid.p)
|
|
pid_log.i = float(self.pid.i)
|
|
pid_log.f = float(self.pid.f)
|
|
pid_log.output = float(output_torque)
|
|
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
|
|
self.prev_angle_steers_des_no_offset = angle_steers_des_no_offset
|
|
self.prev_output_torque = float(output_torque)
|
|
|
|
return output_torque, angle_steers_des, pid_log
|