mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-30 02:52:04 +08:00
Code Issues Packages Projects Releases Wiki Activity
Files
c91ac533efafcd5df701367244a42861baaae424
StarPilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
T
firestar5683 5eb6fe2dd9 Kachow
2026-06-18 13:36:40 -05:00

845 lines
34 KiB
Python
Executable File
Raw Blame History

#!/usr/bin/env python3
import os
import time
import numpy as np
from cereal import log
try:
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
except Exception:
# Build-time fallback for generated-code steps before full python extension availability.
ACCEL_MIN = -3.5
ACCEL_MAX = 2.0
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.lead_behavior import get_tracked_lead_catchup_bias, is_radarless_matched_follow_window
# WARNING: imports outside of constants will not trigger a rebuild
from openpilot.selfdrive.modeld.constants import index_function
if __name__ == '__main__': # generating code
from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
from casadi import SX, vertcat
MODEL_NAME = 'long'
LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
X_DIM = 3
U_DIM = 1
PARAM_DIM = 6
COST_E_DIM = 5
COST_DIM = COST_E_DIM + 1
CONSTR_DIM = 4
# ===== VOACC SPEED-BASED TUNING PARAMETERS =====
# City: Emergency-responsive | Highway: Rubber-banding prevention
# Speed ranges: [0-35, 35-55, 55-70, 70+ mph]
# SPEED BREAKPOINTS (mph)
SPEED_BREAKPOINTS = [0, 35, 55, 70] # 4 ranges: 0-35, 35-55, 55-70, 70+
# ===== CHANGE THESE VALUES FOR DIFFERENT SPEEDS =====
# RESPONSIVENESS TO LEAD CARS (Lower = More responsive, Higher = More stable)
# [City Emergency, Urban Hwy, Rural Hwy, High Speed]
X_EGO_OBSTACLE_COSTS = [3.0, 3.0, 2.5, 2.0] # Less aggressive at low speeds, closer to original
# JERK CONTROL (Lower = More jerky/responsive, Higher = Smoother/conservative)
# [City Emergency, Urban Hwy, Rural Hwy, High Speed]
J_EGO_COSTS = [5.0, 4.75, 4.5, 4.0] # Reverted to original 5.0 at low speeds
# ACCELERATION CHANGE PENALTIES (Lower = More responsive, Higher = Smoother)
# [City Emergency, Urban Hwy, Rural Hwy, High Speed]
A_CHANGE_COSTS = [200, 195, 180, 170] # Reverted to original 200 at low speeds
# SMOOTHING FILTERS - Speed-adaptive for optimal responsiveness
# Lower = More responsive, Higher = Smoother
LEAD_FILTER_TIME_LOW = 0.8 # Under 40 mph: Fast response for city emergency braking
LEAD_FILTER_TIME_HIGH = 1.2 # Over 40 mph: Faster response to prevent highway gaps
SPEED_FILTER_THRESHOLD = 40 * CV.MPH_TO_MS # 40 mph threshold
# DISTANCE ADAPTATION STRENGTH (How much penalties increase when close to lead)
# [City, Urban Hwy, Rural Hwy, High Speed]
DIST_ADAPTS = [0.04, 0.06, 0.06, 0.05] # Balanced across speeds
# ===== END TUNING PARAMETERS =====
FAR_RADAR_LEAD_ACCEL_TAPER_MAX = 1.0
FAR_RADAR_LEAD_ACCEL_TAPER_MAX_CLOSING = 2.5
FAR_RADAR_LEAD_ACCEL_TAPER_MIN_GAP_EXCESS = 8.0
FAR_RADAR_LEAD_ACCEL_TAPER_MIN_GAP_GAIN = 0.25
FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_EXCESS = 25.0
FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_GAIN = 0.9
STABLE_FOLLOW_CRUISE_MIN_SPEED = 12.0
STABLE_FOLLOW_CRUISE_HYSTERESIS_MIN = 4.0
STABLE_FOLLOW_CRUISE_HYSTERESIS_GAIN = 0.14
STABLE_FOLLOW_CRUISE_MAX_REL_SPEED = 2.5
STABLE_FOLLOW_CRUISE_MIN_HEADWAY = 0.95
STABLE_FOLLOW_CRUISE_HEADWAY_BELOW_TARGET = 0.35
STABLE_FOLLOW_CRUISE_HEADWAY_ABOVE_TARGET = 0.90
STABLE_FOLLOW_CRUISE_MAX_LEAD_BRAKE = 0.35
NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED = 20.0
NEAR_DUPLICATE_IDENTICAL_RADAR_SOURCE_MIN_SPEED = 10.0
NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB = 0.9
NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE = 0.35
NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF = 1.5
NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF = 0.35
NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN = 1.25
NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX = 2.25
NEAR_DUPLICATE_IDENTICAL_RADAR_SOURCE_KEEP_MARGIN = 0.35
# Function to get parameter value based on current speed
def get_speed_based_param(speed_mph, param_array):
"""Get parameter value based on current speed using smooth interpolation"""
return float(np.interp(speed_mph, SPEED_BREAKPOINTS, param_array))
# Current active values (set based on speed)
X_EGO_OBSTACLE_COST = 2.75
J_EGO_COST = 5.5
A_CHANGE_COST = 250.0
LEAD_FILTER_TIME = 2.0
DIST_ADAPT = 0.06
X_EGO_COST = 0.
V_EGO_COST = 0.
A_EGO_COST = 0.
DANGER_ZONE_COST = 100.
CRASH_DISTANCE = .25
LEAD_DANGER_FACTOR = 0.75
LIMIT_COST = 1e6
ACADOS_SOLVER_TYPE = 'SQP_RTI'
# Default lead acceleration decay set to 50% at 1s
LEAD_ACCEL_TAU = 1.5
FCW_MIN_MODEL_PROB = 0.9
FCW_MIN_CLOSING_SPEED = 0.5
FCW_MAX_TTC = 4.0
# Fewer timestamps don't hurt performance and lead to
# much better convergence of the MPC with low iterations
N = 12
MAX_T = 10.0
T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)]
T_IDXS = np.array(T_IDXS_LST)
FCW_IDXS = T_IDXS < 5.0
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0
def should_trigger_planner_fcw(lead, v_ego: float) -> bool:
if lead is None or not lead.status or float(getattr(lead, "modelProb", 0.0)) <= FCW_MIN_MODEL_PROB:
return False
closing_speed = max(0.0, float(v_ego) - float(getattr(lead, "vLead", 0.0)))
if closing_speed < FCW_MIN_CLOSING_SPEED:
return False
ttc = max(0.0, float(getattr(lead, "dRel", 0.0))) / max(closing_speed, 1e-3)
return ttc < FCW_MAX_TTC
def get_jerk_factor(aggressive_jerk_acceleration=0.5, aggressive_jerk_danger=0.5, aggressive_jerk_speed=0.5,
standard_jerk_acceleration=1.0, standard_jerk_danger=1.0, standard_jerk_speed=1.0,
relaxed_jerk_acceleration=1.0, relaxed_jerk_danger=1.0, relaxed_jerk_speed=1.0,
custom_personalities=False, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_jerk_acceleration, relaxed_jerk_danger, relaxed_jerk_speed
elif personality==log.LongitudinalPersonality.standard:
return standard_jerk_acceleration, standard_jerk_danger, standard_jerk_speed
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_jerk_acceleration, aggressive_jerk_danger, aggressive_jerk_speed
else:
raise NotImplementedError("Longitudinal personality not supported")
else:
if personality==log.LongitudinalPersonality.relaxed:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5, 0.5, 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_T_FOLLOW(aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, custom_personalities=False, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_follow
elif personality==log.LongitudinalPersonality.standard:
return standard_follow
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_follow
else:
raise NotImplementedError("Longitudinal personality not supported")
else:
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_stopped_equivalence_factor(v_lead):
return (v_lead**2) / (2 * COMFORT_BRAKE)
def get_safe_obstacle_distance(v_ego, t_follow):
from openpilot.common.params import Params
params = Params()
stop_str = params.get("StopDistance", encoding="utf8")
stop_distance = float(stop_str) if stop_str else STOP_DISTANCE
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance
def desired_follow_distance(v_ego, v_lead, t_follow=None):
if t_follow is None:
t_follow = get_T_FOLLOW()
return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
def soften_far_radar_lead_accel(d_rel, v_lead, a_lead, v_ego, t_follow, *, radar=True):
if not radar or a_lead >= 0.0:
return float(a_lead)
desired_gap = float(desired_follow_distance(v_ego, v_lead, t_follow))
closing_speed = max(0.0, float(v_ego) - float(v_lead))
gap_excess = float(d_rel) - desired_gap
taper_start = max(FAR_RADAR_LEAD_ACCEL_TAPER_MIN_GAP_EXCESS,
FAR_RADAR_LEAD_ACCEL_TAPER_MIN_GAP_GAIN * float(v_ego))
if gap_excess <= taper_start or closing_speed >= FAR_RADAR_LEAD_ACCEL_TAPER_MAX_CLOSING:
return float(a_lead)
taper_scale = max(FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_EXCESS,
FAR_RADAR_LEAD_ACCEL_TAPER_FULL_GAP_GAIN * float(v_ego))
distance_factor = float(np.clip((gap_excess - taper_start) / taper_scale, 0.0, 1.0))
closing_factor = float(np.clip((FAR_RADAR_LEAD_ACCEL_TAPER_MAX_CLOSING - closing_speed) /
FAR_RADAR_LEAD_ACCEL_TAPER_MAX_CLOSING, 0.0, 1.0))
taper = FAR_RADAR_LEAD_ACCEL_TAPER_MAX * distance_factor * closing_factor
return float(a_lead * (1.0 - taper))
def gen_long_model():
model = AcadosModel()
model.name = MODEL_NAME
# set up states & controls
x_ego = SX.sym('x_ego')
v_ego = SX.sym('v_ego')
a_ego = SX.sym('a_ego')
model.x = vertcat(x_ego, v_ego, a_ego)
# controls
j_ego = SX.sym('j_ego')
model.u = vertcat(j_ego)
# xdot
x_ego_dot = SX.sym('x_ego_dot')
v_ego_dot = SX.sym('v_ego_dot')
a_ego_dot = SX.sym('a_ego_dot')
model.xdot = vertcat(x_ego_dot, v_ego_dot, a_ego_dot)
# live parameters
a_min = SX.sym('a_min')
a_max = SX.sym('a_max')
x_obstacle = SX.sym('x_obstacle')
prev_a = SX.sym('prev_a')
lead_t_follow = SX.sym('lead_t_follow')
lead_danger_factor = SX.sym('lead_danger_factor')
model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
# dynamics model
f_expl = vertcat(v_ego, a_ego, j_ego)
model.f_impl_expr = model.xdot - f_expl
model.f_expl_expr = f_expl
return model
def gen_long_ocp():
ocp = AcadosOcp()
ocp.model = gen_long_model()
Tf = T_IDXS[-1]
# set dimensions
ocp.dims.N = N
# set cost module
ocp.cost.cost_type = 'NONLINEAR_LS'
ocp.cost.cost_type_e = 'NONLINEAR_LS'
QR = np.zeros((COST_DIM, COST_DIM))
Q = np.zeros((COST_E_DIM, COST_E_DIM))
ocp.cost.W = QR
ocp.cost.W_e = Q
x_ego, v_ego, a_ego = ocp.model.x[0], ocp.model.x[1], ocp.model.x[2]
j_ego = ocp.model.u[0]
a_min, a_max = ocp.model.p[0], ocp.model.p[1]
x_obstacle = ocp.model.p[2]
prev_a = ocp.model.p[3]
lead_t_follow = ocp.model.p[4]
lead_danger_factor = ocp.model.p[5]
ocp.cost.yref = np.zeros((COST_DIM, ))
ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow)
# The main cost in normal operation is how close you are to the "desired" distance
# from an obstacle at every timestep. This obstacle can be a lead car
# or other object. In e2e mode we can use x_position targets as a cost
# instead.
accel_change = a_ego - prev_a
costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.),
x_ego,
v_ego,
a_ego,
accel_change,
j_ego]
ocp.model.cost_y_expr = vertcat(*costs)
ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
# Constraints on speed, acceleration and desired distance to
# the obstacle, which is treated as a slack constraint so it
# behaves like an asymmetrical cost.
constraints = vertcat(v_ego,
(a_ego - a_min),
(a_max - a_ego),
((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.))
ocp.model.con_h_expr = constraints
x0 = np.zeros(X_DIM)
ocp.constraints.x0 = x0
ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
# We put all constraint cost weights to 0 and only set them at runtime
cost_weights = np.zeros(CONSTR_DIM)
ocp.cost.zl = cost_weights
ocp.cost.Zl = cost_weights
ocp.cost.Zu = cost_weights
ocp.cost.zu = cost_weights
ocp.constraints.lh = np.zeros(CONSTR_DIM)
ocp.constraints.uh = 1e4*np.ones(CONSTR_DIM)
ocp.constraints.idxsh = np.arange(CONSTR_DIM)
# The HPIPM solver can give decent solutions even when it is stopped early
# Which is critical for our purpose where compute time is strictly bounded
# We use HPIPM in the SPEED_ABS mode, which ensures fastest runtime. This
# does not cause issues since the problem is well bounded.
ocp.solver_options.qp_solver = 'PARTIAL_CONDENSING_HPIPM'
ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
ocp.solver_options.integrator_type = 'ERK'
ocp.solver_options.nlp_solver_type = ACADOS_SOLVER_TYPE
ocp.solver_options.qp_solver_cond_N = 1
# More iterations take too much time and less lead to inaccurate convergence in
# some situations. Ideally we would run just 1 iteration to ensure fixed runtime.
ocp.solver_options.qp_solver_iter_max = 10
ocp.solver_options.qp_tol = 1e-3
# set prediction horizon
ocp.solver_options.tf = Tf
ocp.solver_options.shooting_nodes = T_IDXS
ocp.code_export_directory = EXPORT_DIR
return ocp
class LongitudinalMpc:
def __init__(self, mode='acc', dt=DT_MDL):
self.mode = mode
self.dt = dt
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.source = SOURCES[2]
# Initialize smoothing filters with default time constants
self.current_filter_time = LEAD_FILTER_TIME_LOW
self.lead_a_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
self.lead_v_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
# Slew-limited filter factor to avoid abrupt 0.50↔1.00 jumps
self.filter_time_factor = 1.0
self.prev_filter_time_factor = 1.0
self.slew_per_sec = 1.0
# Instance variables to avoid global modifications
self.current_x_ego_cost = X_EGO_OBSTACLE_COSTS[0]
self.current_j_ego_cost = J_EGO_COSTS[0]
self.current_a_change_cost = A_CHANGE_COSTS[0]
self.current_dist_adapt = DIST_ADAPTS[0]
# Initialize acceleration limits to prevent AttributeError
self.cruise_min_a = ACCEL_MIN
self.max_a = min(ACCEL_MAX, 1.2)
self.reset()
def reset(self):
# self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.solver.reset()
# self.solver.options_set('print_level', 2)
self.v_solution = np.zeros(N+1)
self.a_solution = np.zeros(N+1)
self.prev_a = np.array(self.a_solution)
self.j_solution = np.zeros(N)
self.yref = np.zeros((N+1, COST_DIM))
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
self.x_sol = np.zeros((N+1, X_DIM))
self.u_sol = np.zeros((N,1))
self.params = np.zeros((N+1, PARAM_DIM))
for i in range(N+1):
self.solver.set(i, 'x', np.zeros(X_DIM))
self.last_cloudlog_t = 0
self.status = False
self.crash_cnt = 0.0
self.solution_status = 0
# timers
self.solve_time = 0.0
self.time_qp_solution = 0.0
self.time_linearization = 0.0
self.time_integrator = 0.0
self.x0 = np.zeros(X_DIM)
self.set_weights()
def set_cost_weights(self, cost_weights, constraint_cost_weights):
W = np.asfortranarray(np.diag(cost_weights))
for i in range(N):
# TODO don't hardcode A_CHANGE_COST idx
# reduce the cost on (a-a_prev) later in the horizon.
W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0])
self.solver.cost_set(i, 'W', W)
# Setting the slice without the copy make the array not contiguous,
# causing issues with the C interface.
self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM]))
# Set L2 slack cost on lower bound constraints
Zl = np.array(constraint_cost_weights)
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True,
personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0,
uncertainty=0.0, accel_reengage=False, panic_bypass=False,
filter_time_factor_floor=0.0):
# Update parameters based on current speed with interpolation for smooth scaling
speed_mph = v_ego * CV.MS_TO_MPH # Convert m/s to mph
# Use speed-based parameters for smooth scaling across all breakpoints
self.current_x_ego_cost = get_speed_based_param(speed_mph, X_EGO_OBSTACLE_COSTS)
self.current_j_ego_cost = get_speed_based_param(speed_mph, J_EGO_COSTS)
self.current_a_change_cost = get_speed_based_param(speed_mph, A_CHANGE_COSTS)
# For dist_adapt, start from 0.0 under low speeds while enabling full smooth transitions
dist_adapt_array = [0.0, DIST_ADAPTS[1], DIST_ADAPTS[2], DIST_ADAPTS[3]]
self.current_dist_adapt = get_speed_based_param(speed_mph, dist_adapt_array)
# Update filter time constants with interp and recreate filters if needed
if speed_mph < 47:
self.current_filter_time = 0.0
else:
self.current_filter_time = np.interp(speed_mph, [47, 65], [0.0, LEAD_FILTER_TIME_HIGH])
if abs(self.current_filter_time - getattr(self, 'prev_filter_time', 0)) > 0.1: # Only update if significant change
# Recreate filters with new time constant while preserving current values
current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
self.lead_a_filter = FirstOrderFilter(current_a, self.current_filter_time, self.dt)
self.lead_v_filter = FirstOrderFilter(current_v, self.current_filter_time, self.dt)
self.prev_filter_time = self.current_filter_time
# Adaptive jerk factors for distance with interp scaling
dist_factor = 1.0 + self.current_dist_adapt * (20.0 / max(lead_dist, 5.0))
acceleration_jerk *= dist_factor
danger_jerk *= dist_factor
speed_jerk *= dist_factor
# Scene complexity adjustment based on model uncertainty
prev_filter_time_factor = getattr(self, 'prev_filter_time_factor', 1.0)
# Target factor from uncertainty
if uncertainty <= 0.45:
tgt_factor = 1.0
elif uncertainty >= 0.70:
tgt_factor = 0.0
else:
tgt_factor = float(np.interp(uncertainty, [0.45, 0.70], [1.0, 0.30]))
if accel_reengage:
tgt_factor = min(tgt_factor, 0.5)
# Hard bypass of smoothing when approaching fast or magnitude trips
if panic_bypass:
tgt_factor = 0.0
else:
tgt_factor = max(tgt_factor, float(filter_time_factor_floor))
# Slew-limit changes to avoid step-wise filter jumps
max_step = self.slew_per_sec * self.dt
delta = np.clip(tgt_factor - self.filter_time_factor, -max_step, max_step)
self.filter_time_factor += float(delta)
filter_time_factor = float(self.filter_time_factor)
# When uncertainty is moderately elevated, allow accel but cap jerk by increasing jerk cost
if 0.45 <= uncertainty < 0.60:
scale = float(np.interp(uncertainty, [0.45, 0.60], [1.2, 1.5]))
speed_jerk *= scale
if self.mode == 'acc':
a_change_cost = acceleration_jerk if prev_accel_constraint else 0
cost_weights = [self.current_x_ego_cost, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, speed_jerk]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, danger_jerk]
elif self.mode == 'blended':
a_change_cost = 40.0 if prev_accel_constraint else 0
cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, danger_jerk]
else:
raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
self.set_cost_weights(cost_weights, constraint_cost_weights)
# Adjust filter time constants for complex scenes
if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.05:
new_filter_time = self.current_filter_time * filter_time_factor
current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
self.lead_a_filter = FirstOrderFilter(current_a, new_filter_time, self.dt)
self.lead_v_filter = FirstOrderFilter(current_v, new_filter_time, self.dt)
self.prev_filter_time_factor = filter_time_factor
def set_cur_state(self, v, a):
v_prev = self.x0[1]
self.x0[1] = v
self.x0[2] = a
if abs(v_prev - v) > 2.: # probably only helps if v < v_prev
for i in range(N+1):
self.solver.set(i, 'x', self.x0)
@staticmethod
def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau, v_ego=0.0):
speed_mph = v_ego * CV.MS_TO_MPH
bp = [0, 20, 35]
exp_weight = np.interp(speed_mph, bp, [1.0, 1.0, 0.0]) # Full exp at <20, blend to constant at 35
if exp_weight > 0:
# Exponential decay component
a_lead_traj_exp = a_lead * np.exp(-a_lead_tau * (T_IDXS**2)/2.)
v_lead_traj_exp = np.clip(v_lead + np.cumsum(T_DIFFS * a_lead_traj_exp), 0.0, 1e8)
x_lead_traj_exp = x_lead + np.cumsum(T_DIFFS * v_lead_traj_exp)
else:
x_lead_traj_exp = np.zeros_like(T_IDXS)
v_lead_traj_exp = np.zeros_like(T_IDXS)
# Constant acceleration component
v_lead_traj_const = np.clip(v_lead + a_lead * T_IDXS, 0.0, 1e8)
x_lead_traj_const = x_lead + v_lead * T_IDXS + 0.5 * a_lead * T_IDXS**2
# Blend based on weight
v_lead_traj = exp_weight * v_lead_traj_exp + (1 - exp_weight) * v_lead_traj_const
x_lead_traj = exp_weight * x_lead_traj_exp + (1 - exp_weight) * x_lead_traj_const
lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
return lead_xv
def process_lead(self, lead, tracking_lead=True, t_follow=None):
v_ego = self.x0[1]
if lead is not None and lead.status and tracking_lead:
x_lead = lead.dRel
v_lead = lead.vLead
a_lead = lead.aLeadK
a_lead_tau = lead.aLeadTau
a_lead = soften_far_radar_lead_accel(x_lead, v_lead, a_lead, v_ego,
get_T_FOLLOW() if t_follow is None else t_follow,
radar=bool(getattr(lead, "radar", False)))
else:
# Fake a fast lead car, so mpc can keep running in the same mode
x_lead = 50.0
v_lead = v_ego + 10.0
a_lead = 0.0
a_lead_tau = LEAD_ACCEL_TAU
# MPC will not converge if immediate crash is expected.
# Bound this by physical hard-brake capability, not cruise comfort decel.
min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
x_lead = np.clip(x_lead, min_x_lead, 1e8)
v_lead = np.clip(v_lead, 0.0, 1e8)
a_lead = np.clip(a_lead, -10., 5.)
# Apply smoothing filters with interp scaling
self.lead_a_filter.update(a_lead)
self.lead_v_filter.update(v_lead)
a_lead = self.lead_a_filter.x
v_lead = self.lead_v_filter.x
lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau, v_ego)
return lead_xv
@staticmethod
def get_stable_follow_cruise_hysteresis(lead, v_ego, t_follow):
if lead is None or not lead.status:
return 0.0
lead_radar = bool(getattr(lead, "radar", False))
lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
if lead_brake > STABLE_FOLLOW_CRUISE_MAX_LEAD_BRAKE:
return 0.0
if lead_radar:
if float(t_follow) <= 0.0 or float(v_ego) < STABLE_FOLLOW_CRUISE_MIN_SPEED:
return 0.0
relative_speed = float(v_ego) - float(lead.vLead)
if abs(relative_speed) > STABLE_FOLLOW_CRUISE_MAX_REL_SPEED:
return 0.0
actual_headway = float(lead.dRel) / max(float(v_ego), 1e-3)
min_headway = max(STABLE_FOLLOW_CRUISE_MIN_HEADWAY,
float(t_follow) - STABLE_FOLLOW_CRUISE_HEADWAY_BELOW_TARGET)
max_headway = float(t_follow) + STABLE_FOLLOW_CRUISE_HEADWAY_ABOVE_TARGET
if not (min_headway <= actual_headway <= max_headway):
return 0.0
elif not is_radarless_matched_follow_window(
v_ego,
lead.dRel,
lead.vLead,
t_follow,
radar=lead_radar,
lead_brake=lead_brake,
lead_prob=float(getattr(lead, "modelProb", 0.0)),
min_speed=STABLE_FOLLOW_CRUISE_MIN_SPEED,
):
return 0.0
return max(STABLE_FOLLOW_CRUISE_HYSTERESIS_MIN,
STABLE_FOLLOW_CRUISE_HYSTERESIS_GAIN * float(v_ego))
@staticmethod
def leads_share_identical_radar_track(lead_one, lead_two):
if lead_one is None or lead_two is None or not lead_one.status or not lead_two.status:
return False
if not (bool(getattr(lead_one, "radar", False)) and bool(getattr(lead_two, "radar", False))):
return False
track_one = int(getattr(lead_one, "radarTrackId", -1))
track_two = int(getattr(lead_two, "radarTrackId", -1))
return track_one >= 0 and track_one == track_two
@staticmethod
def leads_are_near_duplicates(lead_one, lead_two, v_ego):
if lead_one is None or lead_two is None or not lead_one.status or not lead_two.status:
return False
if LongitudinalMpc.leads_share_identical_radar_track(lead_one, lead_two):
if float(v_ego) < NEAR_DUPLICATE_IDENTICAL_RADAR_SOURCE_MIN_SPEED:
return False
return (
abs(float(lead_one.dRel) - float(lead_two.dRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF and
abs(float(lead_one.vRel) - float(lead_two.vRel)) <= max(1.0, NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF)
)
if float(v_ego) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED:
return False
lead_one_radar = bool(getattr(lead_one, "radar", False))
lead_two_radar = bool(getattr(lead_two, "radar", False))
if lead_one_radar or lead_two_radar:
return False
if float(getattr(lead_one, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
return False
if float(getattr(lead_two, "modelProb", 0.0)) < NEAR_DUPLICATE_LEAD_SOURCE_MIN_MODEL_PROB:
return False
if max(0.0, -float(getattr(lead_one, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
return False
if max(0.0, -float(getattr(lead_two, "aLeadK", 0.0))) > NEAR_DUPLICATE_LEAD_SOURCE_MAX_LEAD_BRAKE:
return False
return (
abs(float(lead_one.dRel) - float(lead_two.dRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_DREL_DIFF and
abs(float(lead_one.vRel) - float(lead_two.vRel)) <= NEAR_DUPLICATE_LEAD_SOURCE_MAX_VREL_DIFF
)
def get_near_duplicate_lead_source_hysteresis(self, prev_source, lead_one, lead_two, v_ego):
if prev_source not in ("lead0", "lead1"):
return 0.0, 0.0
if not self.leads_are_near_duplicates(lead_one, lead_two, v_ego):
return 0.0, 0.0
hysteresis = float(np.interp(
float(v_ego),
[NEAR_DUPLICATE_LEAD_SOURCE_MIN_SPEED, 35.0],
[NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MIN, NEAR_DUPLICATE_LEAD_SOURCE_HYSTERESIS_MAX],
))
if prev_source == "lead0":
return 0.0, hysteresis
return hysteresis, 0.0
def get_identical_radar_duplicate_source_hold(self, prev_source, lead_one, lead_two, lead_0_obstacle, lead_1_obstacle):
if prev_source not in ("lead0", "lead1"):
return None
if not self.leads_share_identical_radar_track(lead_one, lead_two):
return None
if abs(float(lead_0_obstacle) - float(lead_1_obstacle)) > NEAR_DUPLICATE_IDENTICAL_RADAR_SOURCE_KEEP_MARGIN:
return None
return prev_source
def set_accel_limits(self, min_a, max_a):
# TODO this sets a max accel limit, but the minimum limit is only for cruise decel
# needs refactor
self.cruise_min_a = min_a
self.max_a = max_a
def update(self, radarstate, v_cruise, x, v, a, j, danger_factor, t_follow,
personality=log.LongitudinalPersonality.standard, tracking_lead=True,
optional_far_lead_comfort=True):
v_ego = self.x0[1]
lead_one = radarstate.leadOne
lead_two = radarstate.leadTwo
self.status = tracking_lead and (lead_one.status or lead_two.status)
lead_xv_0 = self.process_lead(lead_one, tracking_lead, t_follow=t_follow)
lead_xv_1 = self.process_lead(lead_two, tracking_lead, t_follow=t_follow)
# To estimate a safe distance from a moving lead, we calculate how much stopping
# distance that lead needs as a minimum. We can add that to the current distance
# and then treat that as a stopped car/obstacle at this new distance.
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
self.params[:,0] = ACCEL_MIN
self.params[:,1] = max(0.0, self.max_a)
# Update in ACC mode or ACC/e2e blend
if self.mode == 'acc':
self.params[:,5] = LEAD_DANGER_FACTOR
# Fake an obstacle for cruise, this ensures smooth acceleration to set speed
# when the leads are no factor.
v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
# TODO does this make sense when max_a is negative?
v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
v_lower,
v_upper)
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
prev_source = self.source
if optional_far_lead_comfort:
if prev_source == 'lead0':
cruise_obstacle += self.get_stable_follow_cruise_hysteresis(lead_one, v_ego, t_follow)
elif prev_source == 'lead1':
cruise_obstacle += self.get_stable_follow_cruise_hysteresis(lead_two, v_ego, t_follow)
if optional_far_lead_comfort and tracking_lead and lead_one.status:
desired_gap = desired_follow_distance(v_ego, lead_one.vLead, t_follow)
closing_speed = max(0.0, v_ego - lead_one.vLead)
cruise_obstacle += get_tracked_lead_catchup_bias(v_ego, lead_one.dRel, desired_gap, closing_speed, v_cruise=v_cruise)
if optional_far_lead_comfort:
lead_0_bias, lead_1_bias = self.get_near_duplicate_lead_source_hysteresis(prev_source, lead_one, lead_two, v_ego)
lead_0_obstacle = lead_0_obstacle + lead_0_bias
lead_1_obstacle = lead_1_obstacle + lead_1_bias
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
candidate_source = SOURCES[np.argmin(x_obstacles[0])]
sticky_source = None
if optional_far_lead_comfort and candidate_source in ("lead0", "lead1"):
sticky_source = self.get_identical_radar_duplicate_source_hold(
prev_source,
lead_one,
lead_two,
lead_0_obstacle[0],
lead_1_obstacle[0],
)
self.source = sticky_source or candidate_source
# These are not used in ACC mode
x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
elif self.mode == 'blended':
self.params[:,5] = 1.0
x_obstacles = np.column_stack([lead_0_obstacle,
lead_1_obstacle])
cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
x = np.cumsum(np.insert(xforward, 0, x[0]))
x_and_cruise = np.column_stack([x, cruise_target])
x = np.min(x_and_cruise, axis=1)
self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise'
else:
raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update')
self.yref[:,1] = x
self.yref[:,2] = v
self.yref[:,3] = a
self.yref[:,5] = j
for i in range(N):
self.solver.set(i, "yref", self.yref[i])
self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
self.params[:,2] = np.min(x_obstacles, axis=1)
self.params[:,3] = np.copy(self.prev_a)
self.params[:,4] = t_follow
self.run()
if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
should_trigger_planner_fcw(lead_one, v_ego)):
self.crash_cnt += 1
else:
self.crash_cnt = 0
# Check if it got within lead comfort range
# TODO This should be done cleaner
if self.mode == 'blended':
if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
self.source = 'lead0'
if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
(lead_1_obstacle[0] - lead_0_obstacle[0]):
self.source = 'lead1'
def run(self):
# t0 = time.monotonic()
# reset = 0
for i in range(N+1):
self.solver.set(i, 'p', self.params[i])
self.solver.constraints_set(0, "lbx", self.x0)
self.solver.constraints_set(0, "ubx", self.x0)
self.solution_status = self.solver.solve()
self.solve_time = float(self.solver.get_stats('time_tot')[0])
self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
self.time_linearization = float(self.solver.get_stats('time_lin')[0])
self.time_integrator = float(self.solver.get_stats('time_sim')[0])
# qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
# print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
# integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
# res = self.solver.get_residuals()
# print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
# self.solver.print_statistics()
for i in range(N+1):
self.x_sol[i] = self.solver.get(i, 'x')
for i in range(N):
self.u_sol[i] = self.solver.get(i, 'u')
self.v_solution = self.x_sol[:,1]
self.a_solution = self.x_sol[:,2]
self.j_solution = self.u_sol[:,0]
self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
t = time.monotonic()
if self.solution_status != 0:
if t > self.last_cloudlog_t + 5.0:
self.last_cloudlog_t = t
cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
self.reset()
# reset = 1
# print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \
# lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
if __name__ == "__main__":
ocp = gen_long_ocp()
AcadosOcpSolver.generate(ocp, json_file=JSON_FILE)
# AcadosOcpSolver.build(ocp.code_export_directory, with_cython=True)
Reference in New Issue View Git Blame Copy Permalink