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https://github.com/firestar5683/StarPilot.git
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firestar5683
93 lines
4.1 KiB
Python
93 lines
4.1 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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FORD_ANGLE_CATCH_UP_HORIZON = 1.25 # Seconds
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FORD_ANGLE_RATE_FILTER_TIME_CONSTANT = 0.15 # Seconds
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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 = 5.0
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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 or v_ego < _ASCENT_ANGLE_TRACKING_MIN_SPEED:
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return target_angle
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correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN
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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 _ford_angle_tracking_saturated(angle_error: float, steering_rate: float) -> bool:
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"""Only call a Ford angle request saturated when the EPS is not on track to catch it."""
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catching_up = angle_error * steering_rate > 0.0
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catching_up &= abs(angle_error) <= abs(steering_rate) * FORD_ANGLE_CATCH_UP_HORIZON
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return abs(angle_error) > STEER_ANGLE_SATURATION_THRESHOLD and not catching_up
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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.is_ford = CP.brand == "ford"
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self.measured_angle_last = None
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self.measured_angle_rate = 0.0
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def _update_measured_angle_rate(self, steering_angle: float, reset: bool) -> float:
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if reset or self.measured_angle_last is None:
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self.measured_angle_rate = 0.0
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else:
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raw_rate = (steering_angle - self.measured_angle_last) / self.dt
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alpha = self.dt / (FORD_ANGLE_RATE_FILTER_TIME_CONSTANT + self.dt)
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self.measured_angle_rate += alpha * (raw_rate - self.measured_angle_rate)
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self.measured_angle_last = steering_angle
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return self.measured_angle_rate
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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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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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angle_steers_des = _ascent_angle_tracking_target(
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angle_steers_des,
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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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ford_angle_mode = self.is_ford and getattr(starpilot_toggles, "ford_lateral_mode", -1) == 2
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measured_angle_rate = self._update_measured_angle_rate(
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float(CS.steeringAngleDeg), not active or bool(CS.steeringPressed) or not ford_angle_mode)
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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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if ford_angle_mode:
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angle_control_saturated = _ford_angle_tracking_saturated(angle_error, measured_angle_rate)
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else:
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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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