mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
139 lines
6.7 KiB
Python
139 lines
6.7 KiB
Python
import math
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from cereal import log
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from opendbc.car.honda.carcontroller import get_civic_bosch_modified_steering_pressed
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from opendbc.car.honda.values import CAR as HONDA, HondaFlags
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from openpilot.starpilot.common.testing_grounds import testing_ground
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.common.pid import PIDController
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def civic_bosch_modified_lateral_testing_ground_active() -> bool:
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return testing_ground.use("8", "B")
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def get_civic_bosch_modified_pid_output_scale(desired_angle_deg: float, desired_angle_delta_deg: float, v_ego: float) -> float:
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abs_angle = abs(desired_angle_deg)
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speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
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center_speed_weight = 0.70 + (0.30 * speed_weight)
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center_weight = min(max((18.0 - abs_angle) / 18.0, 0.0), 1.0)
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mid_turn_weight = min(max((abs_angle - 10.0) / 10.0, 0.0), 1.0)
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angle_weight = min(max((abs_angle - 18.0) / 10.0, 0.0), 1.0)
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phase = desired_angle_deg * desired_angle_delta_deg
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is_left = desired_angle_deg > 0.0
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center_taper = 0.32
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mid_turn_scale = 0.12 if is_left else -0.10
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mid_turn_turn_in_scale = 0.08 if is_left else -0.08
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mid_turn_unwind_scale = -0.05 if is_left else -0.08
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base_scale = 0.12 if is_left else 0.10
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turn_in_scale = 0.12 if is_left else 0.12
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unwind_scale = 0.14 if is_left else 0.18
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scale = 1.0 - (center_speed_weight * center_weight * center_taper)
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scale += speed_weight * mid_turn_weight * mid_turn_scale
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scale += speed_weight * angle_weight * base_scale
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if phase > 0.2:
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scale += speed_weight * mid_turn_weight * mid_turn_turn_in_scale
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scale += speed_weight * angle_weight * turn_in_scale
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elif phase < -0.2:
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scale += speed_weight * mid_turn_weight * mid_turn_unwind_scale
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scale -= speed_weight * angle_weight * unwind_scale
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return max(scale, 0.70)
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def get_civic_bosch_modified_pid_output_alpha(desired_angle_deg: float, desired_angle_delta_deg: float,
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v_ego: float, output_torque: float, prev_output_torque: float) -> float:
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abs_angle = abs(desired_angle_deg)
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if abs_angle < 0.75 or abs_angle > 22.0:
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return 1.0
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speed_weight = min(max((v_ego - 4.0) / 10.0, 0.0), 1.0)
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onset = min(max((abs_angle - 0.75) / 5.25, 0.0), 1.0)
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cutoff = min(max((22.0 - abs_angle) / 8.0, 0.0), 1.0)
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band_weight = onset * cutoff
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small_curve_weight = min(max((12.0 - abs_angle) / 6.0, 0.0), 1.0)
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large_turn_weight = min(max((abs_angle - 16.0) / 6.0, 0.0), 1.0)
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transition_weight = min(abs(desired_angle_delta_deg) / 0.35, 1.0)
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sign_change_weight = 1.0 if (output_torque * prev_output_torque) < 0.0 else 0.0
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smoothing = band_weight * (0.36 + (0.22 * speed_weight) + (0.12 * transition_weight) + (0.12 * sign_change_weight))
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smoothing *= 1.0 + (0.35 * small_curve_weight)
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smoothing *= 1.0 - (0.50 * large_turn_weight)
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return min(max(1.0 - smoothing, 0.14), 1.0)
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class LatControlPID(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.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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pos_limit=self.steer_max, neg_limit=-self.steer_max)
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self.ff_factor = CP.lateralTuning.pid.kf
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self.get_steer_feedforward = CI.get_steer_feedforward_function()
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self.is_civic_bosch_modified = CP.carFingerprint == HONDA.HONDA_CIVIC_BOSCH and bool(CP.flags & HondaFlags.EPS_MODIFIED)
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self.prev_angle_steers_des_no_offset = 0.0
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self.modified_civic_steering_pressed_filter_s = 0.0
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self.modified_civic_steering_pressed_prev = False
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self.prev_output_torque = 0.0
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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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pid_log = log.ControlsState.LateralPIDState.new_message()
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pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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pid_log.steeringRateDeg = float(CS.steeringRateDeg)
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angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
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error = angle_steers_des - CS.steeringAngleDeg
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pid_log.steeringAngleDesiredDeg = angle_steers_des
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pid_log.angleError = error
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if not active:
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output_torque = 0.0
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pid_log.active = False
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self.prev_angle_steers_des_no_offset = angle_steers_des_no_offset
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self.modified_civic_steering_pressed_filter_s = 0.0
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self.modified_civic_steering_pressed_prev = False
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self.prev_output_torque = 0.0
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else:
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# offset does not contribute to resistive torque
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ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
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steering_pressed = CS.steeringPressed
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if self.is_civic_bosch_modified:
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self.modified_civic_steering_pressed_filter_s, steering_pressed = get_civic_bosch_modified_steering_pressed(
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bool(CS.steeringPressed),
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float(getattr(CS, "steeringTorque", 0.0)),
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float(self.prev_output_torque),
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self.modified_civic_steering_pressed_filter_s,
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self.modified_civic_steering_pressed_prev,
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)
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self.modified_civic_steering_pressed_prev = steering_pressed
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freeze_integrator = steer_limited_by_safety or steering_pressed or CS.vEgo < 5
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output_torque = self.pid.update(error,
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feedforward=ff,
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speed=CS.vEgo,
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freeze_integrator=freeze_integrator)
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if self.is_civic_bosch_modified and civic_bosch_modified_lateral_testing_ground_active():
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desired_angle_delta = angle_steers_des_no_offset - self.prev_angle_steers_des_no_offset
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output_torque *= get_civic_bosch_modified_pid_output_scale(angle_steers_des_no_offset, desired_angle_delta, CS.vEgo)
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output_alpha = get_civic_bosch_modified_pid_output_alpha(angle_steers_des_no_offset, desired_angle_delta, CS.vEgo,
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output_torque, self.prev_output_torque)
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output_torque = self.prev_output_torque + (output_alpha * (output_torque - self.prev_output_torque))
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output_torque = float(max(min(output_torque, self.steer_max), -self.steer_max))
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pid_log.active = True
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pid_log.p = float(self.pid.p)
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pid_log.i = float(self.pid.i)
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pid_log.f = float(self.pid.f)
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pid_log.output = float(output_torque)
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pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
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self.prev_angle_steers_des_no_offset = angle_steers_des_no_offset
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self.prev_output_torque = float(output_torque)
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return output_torque, angle_steers_des, pid_log
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