firestar5683
485 lines
26 KiB
Python
485 lines
26 KiB
Python
import math
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import numpy as np
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from collections import deque
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from cereal import log
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from opendbc.car.gm.values import CAR as GM_CAR
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from opendbc.car.lateral import get_friction
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from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY, CV
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.common.pid import PIDController
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from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.starpilot.common.testing_grounds import testing_ground
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# At higher speeds (25+mph) we can assume:
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# Lateral acceleration achieved by a specific car correlates to
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# torque applied to the steering rack. It does not correlate to
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# wheel slip, or to speed.
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# This controller applies torque to achieve desired lateral
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# accelerations. To compensate for the low speed effects the
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# proportional gain is increased at low speeds by the PID controller.
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# Additionally, there is friction in the steering wheel that needs
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# to be overcome to move it at all, this is compensated for too.
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KP = 0.7
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KI = 0.35
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INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
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KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
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LOW_SPEED_X = [0, 10, 20, 30]
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LOW_SPEED_Y = [12, 10.5, 8, 5]
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MAX_LAT_JERK_UP = 2.5 # m/s^3
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LP_FILTER_CUTOFF_HZ = 1.2
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JERK_LOOKAHEAD_SECONDS = 0.19
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JERK_GAIN = 0.22
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LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
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VERSION = 2
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DEBUG_TORQUE_TUNE = False
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FF_SCALE_BLEND_LAT_ACCEL = 0.05
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DEADZONE_BOOST_LAT_ACCEL = 0.15
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UNWIND_D_DES_THRESHOLD = -1.0
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UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
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MIN_LATERAL_CONTROL_SPEED = 0.3
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BOLT_2022_2023_CARS = (
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GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
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GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
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GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
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)
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BOLT_2018_2021_CARS = (
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GM_CAR.CHEVROLET_BOLT_CC_2018_2021,
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)
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BOLT_2017_CARS = (
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GM_CAR.CHEVROLET_BOLT_CC_2017,
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)
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BOLT_CARS = BOLT_2022_2023_CARS + BOLT_2018_2021_CARS + BOLT_2017_CARS
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BOLT_2017_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
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BOLT_2017_STEER_RATIO_TEST_SCALE = 1.045
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BOLT_2017_TORQUE_SCALE_BP = [0.0, 0.2, 0.5, 1.0, 1.5, 2.5]
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BOLT_2017_TORQUE_SCALE_LEFT = [1.0, 1.0, 1.065, 1.060, 1.055, 1.045]
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BOLT_2017_TORQUE_SCALE_RIGHT = [1.0, 1.0, 1.035, 1.020, 0.995, 0.985]
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BOLT_2017_TRANSITION_SPEED = 10.0
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BOLT_2017_PHASE_SCALE = 0.12
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BOLT_2017_TURN_IN_BOOST_LEFT = 0.28
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BOLT_2017_TURN_IN_BOOST_RIGHT = 0.18
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BOLT_2017_UNWIND_TAPER_LEFT = 0.08
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BOLT_2017_UNWIND_TAPER_RIGHT = 0.28
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BOLT_2018_2021_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
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BOLT_2018_2021_STEER_RATIO_TEST_SCALE = 1.01
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BOLT_2018_2021_TORQUE_GAIN_LEFT = 0.090
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BOLT_2018_2021_TORQUE_GAIN_RIGHT = 0.050
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BOLT_2018_2021_TORQUE_ONSET = 0.18
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BOLT_2018_2021_TORQUE_ONSET_WIDTH = 0.08
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BOLT_2018_2021_TORQUE_CUTOFF = 1.05
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BOLT_2018_2021_TORQUE_CUTOFF_WIDTH = 0.24
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BOLT_2018_2021_JERK_TAPER_CUTOFF = 0.42
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BOLT_2018_2021_CENTER_TAPER_LAT = 0.12
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BOLT_2018_2021_CENTER_TAPER_WIDTH = 0.04
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BOLT_2018_2021_CENTER_TAPER_GAIN = 0.35
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BOLT_2018_2021_TRANSITION_SPEED = 8.5
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BOLT_2018_2021_PHASE_SCALE = 0.10
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BOLT_2018_2021_TURN_IN_BOOST_LEFT = 0.22
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BOLT_2018_2021_TURN_IN_BOOST_RIGHT = 0.12
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BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.80
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BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.96
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BOLT_2018_2021_FRICTION_MULT = 1.01
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BOLT_2018_2021_FRICTION_LAT_RISE = 0.24
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BOLT_2018_2021_FRICTION_JERK_RISE = 0.28
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BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
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BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.13
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BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
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BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.21
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BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT = 0.08
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BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
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BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
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BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
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BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
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BOLT_2022_2023_FF_GAIN_LEFT = 0.13
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BOLT_2022_2023_FF_GAIN_RIGHT = 0.07
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BOLT_2022_2023_FF_ONSET = 0.12
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BOLT_2022_2023_FF_ONSET_WIDTH = 0.07
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BOLT_2022_2023_FF_CUTOFF = 1.35
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BOLT_2022_2023_FF_CUTOFF_WIDTH = 0.28
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BOLT_2022_2023_TRANSITION_SPEED = 9.0
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BOLT_2022_2023_PHASE_SCALE = 0.12
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BOLT_2022_2023_TURN_IN_BOOST_LEFT = 0.12
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BOLT_2022_2023_TURN_IN_BOOST_RIGHT = 0.06
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BOLT_2022_2023_UNWIND_TAPER_LEFT = 0.28
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BOLT_2022_2023_UNWIND_TAPER_RIGHT = 0.24
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BOLT_2022_2023_FRICTION_MULT = 1.15
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BOLT_2022_2023_FRICTION_LAT_RISE = 0.22
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BOLT_2022_2023_FRICTION_JERK_RISE = 0.26
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BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.14
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BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.08
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BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT = 0.20
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BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.16
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BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT = 0.08
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BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
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BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
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BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
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def get_friction_threshold(v_ego: float) -> float:
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# Keep the speed-scaled friction threshold behavior.
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return float(np.interp(v_ego, [1 * CV.MPH_TO_MS, 20 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.16, 0.19, 0.27]))
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def bolt_2017_lateral_testing_ground_active() -> bool:
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return testing_ground.use(BOLT_2017_LATERAL_TESTING_GROUND_ID)
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def _bolt_2017_low_speed_factor(v_ego: float) -> float:
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return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2017_TRANSITION_SPEED) ** 2)
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def _bolt_2017_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2017_PHASE_SCALE)
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def _bolt_2017_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
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return left_value if desired_lateral_accel >= 0.0 else right_value
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def get_bolt_2017_base_torque_scale(desired_lateral_accel: float) -> float:
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if desired_lateral_accel == 0.0:
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return 1.0
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scale_values = BOLT_2017_TORQUE_SCALE_LEFT if desired_lateral_accel > 0.0 else BOLT_2017_TORQUE_SCALE_RIGHT
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return float(np.interp(abs(desired_lateral_accel), BOLT_2017_TORQUE_SCALE_BP, scale_values))
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def get_bolt_2017_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float = 0.0, v_ego: float = 30.0) -> float:
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base_scale = get_bolt_2017_base_torque_scale(desired_lateral_accel)
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if base_scale <= 1.0 or desired_lateral_jerk == 0.0:
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return base_scale
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low_speed_factor = _bolt_2017_low_speed_factor(v_ego)
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phase = _bolt_2017_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
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unwind_weight = max(-phase, 0.0)
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turn_in_boost = 1.0 + (_bolt_2017_side_value(desired_lateral_accel, BOLT_2017_TURN_IN_BOOST_LEFT, BOLT_2017_TURN_IN_BOOST_RIGHT) *
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turn_in_weight * (0.35 + 0.65 * low_speed_factor))
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unwind_taper = 1.0 - (_bolt_2017_side_value(desired_lateral_accel, BOLT_2017_UNWIND_TAPER_LEFT, BOLT_2017_UNWIND_TAPER_RIGHT) *
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unwind_weight * (0.45 + 0.55 * low_speed_factor))
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return 1.0 + ((base_scale - 1.0) * turn_in_boost * max(unwind_taper, 0.0))
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def bolt_2018_2021_lateral_testing_ground_active() -> bool:
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return testing_ground.use(BOLT_2018_2021_LATERAL_TESTING_GROUND_ID)
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def _bolt_2018_2021_sigmoid(x: float) -> float:
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return 1.0 / (1.0 + math.exp(-x))
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def _bolt_2018_2021_low_speed_factor(v_ego: float) -> float:
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return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2018_2021_TRANSITION_SPEED) ** 2)
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def _bolt_2018_2021_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2018_2021_PHASE_SCALE)
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def _bolt_2018_2021_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
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return left_value if desired_lateral_accel >= 0.0 else right_value
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def _bolt_2018_2021_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2018_2021_FRICTION_LAT_RISE)
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jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2018_2021_FRICTION_JERK_RISE)
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return _bolt_2018_2021_low_speed_factor(v_ego) * lat_factor * jerk_factor
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def get_bolt_2018_2021_torque_scale(desired_lateral_accel: float) -> float:
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if desired_lateral_accel == 0.0:
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return 1.0
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gain = BOLT_2018_2021_TORQUE_GAIN_LEFT if desired_lateral_accel > 0.0 else BOLT_2018_2021_TORQUE_GAIN_RIGHT
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abs_lateral_accel = abs(desired_lateral_accel)
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onset = _bolt_2018_2021_sigmoid((abs_lateral_accel - BOLT_2018_2021_TORQUE_ONSET) / BOLT_2018_2021_TORQUE_ONSET_WIDTH)
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cutoff = _bolt_2018_2021_sigmoid((BOLT_2018_2021_TORQUE_CUTOFF - abs_lateral_accel) / BOLT_2018_2021_TORQUE_CUTOFF_WIDTH)
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return 1.0 + gain * onset * cutoff
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def get_bolt_2018_2021_dynamic_torque_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
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base_scale = get_bolt_2018_2021_torque_scale(desired_lateral_accel)
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extra_scale = max(base_scale - 1.0, 0.0)
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abs_lateral_accel = abs(desired_lateral_accel)
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low_speed_factor = _bolt_2018_2021_low_speed_factor(v_ego)
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high_speed_factor = 1.0 - low_speed_factor
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center_window = _bolt_2018_2021_sigmoid((BOLT_2018_2021_CENTER_TAPER_LAT - abs_lateral_accel) / BOLT_2018_2021_CENTER_TAPER_WIDTH)
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center_taper = 1.0 - (BOLT_2018_2021_CENTER_TAPER_GAIN * high_speed_factor * center_window)
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phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
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jerk_taper = 1.0 / (1.0 + (abs(desired_lateral_jerk) / BOLT_2018_2021_JERK_TAPER_CUTOFF) ** 2)
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turn_in_boost = 1.0 + (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_BOOST_LEFT, BOLT_2018_2021_TURN_IN_BOOST_RIGHT) *
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turn_in_weight * low_speed_factor)
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unwind_weight = max(-phase, 0.0)
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unwind_taper = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT, BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT) *
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unwind_weight * (0.55 + 0.45 * low_speed_factor))
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return 1.0 + (extra_scale * center_taper * jerk_taper * turn_in_boost * max(unwind_taper, 0.0))
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def get_bolt_2018_2021_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
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base_threshold = get_friction_threshold(v_ego)
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transition_envelope = _bolt_2018_2021_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
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phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
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unwind_weight = max(-phase, 0.0)
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threshold_scale = 1.0 - (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
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transition_envelope * turn_in_weight)
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threshold_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT, BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT) *
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transition_envelope * unwind_weight)
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return base_threshold * min(max(threshold_scale, 0.82), 1.12)
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def get_bolt_2018_2021_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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transition_envelope = _bolt_2018_2021_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
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phase = _bolt_2018_2021_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
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unwind_weight = max(-phase, 0.0)
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friction_scale = BOLT_2018_2021_FRICTION_MULT
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friction_scale += (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT) *
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transition_envelope * turn_in_weight)
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friction_scale -= (_bolt_2018_2021_side_value(desired_lateral_accel, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT) *
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transition_envelope * unwind_weight)
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return min(max(friction_scale, 0.88), 1.10)
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def bolt_2022_2023_lateral_testing_ground_active() -> bool:
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return testing_ground.use(BOLT_2022_2023_LATERAL_TESTING_GROUND_ID)
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def _bolt_2022_2023_sigmoid(x: float) -> float:
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return 1.0 / (1.0 + math.exp(-x))
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def _bolt_2022_2023_low_speed_factor(v_ego: float) -> float:
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return 1.0 / (1.0 + (max(v_ego, 0.0) / BOLT_2022_2023_TRANSITION_SPEED) ** 2)
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def _bolt_2022_2023_transition_phase(desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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return math.tanh((desired_lateral_accel * desired_lateral_jerk) / BOLT_2022_2023_PHASE_SCALE)
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def _bolt_2022_2023_side_value(desired_lateral_accel: float, left_value: float, right_value: float) -> float:
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return left_value if desired_lateral_accel >= 0.0 else right_value
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def _bolt_2022_2023_transition_envelope(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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lat_factor = 1.0 - math.exp(-abs(desired_lateral_accel) / BOLT_2022_2023_FRICTION_LAT_RISE)
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jerk_factor = 1.0 - math.exp(-abs(desired_lateral_jerk) / BOLT_2022_2023_FRICTION_JERK_RISE)
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return _bolt_2022_2023_low_speed_factor(v_ego) * lat_factor * jerk_factor
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def get_bolt_2022_2023_ff_scale(desired_lateral_accel: float, desired_lateral_jerk: float, v_ego: float) -> float:
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if desired_lateral_accel == 0.0:
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return 1.0
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gain = _bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_FF_GAIN_LEFT, BOLT_2022_2023_FF_GAIN_RIGHT)
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abs_lateral_accel = abs(desired_lateral_accel)
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onset = _bolt_2022_2023_sigmoid((abs_lateral_accel - BOLT_2022_2023_FF_ONSET) / BOLT_2022_2023_FF_ONSET_WIDTH)
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cutoff = _bolt_2022_2023_sigmoid((BOLT_2022_2023_FF_CUTOFF - abs_lateral_accel) / BOLT_2022_2023_FF_CUTOFF_WIDTH)
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extra_scale = gain * onset * cutoff
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low_speed_factor = _bolt_2022_2023_low_speed_factor(v_ego)
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transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
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phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
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unwind_weight = max(-phase, 0.0)
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turn_in_boost = 1.0 + (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_BOOST_LEFT, BOLT_2022_2023_TURN_IN_BOOST_RIGHT) *
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turn_in_weight * low_speed_factor)
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unwind_envelope = (0.25 + 0.75 * low_speed_factor) * (1.0 + 0.45 * transition_envelope)
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|
unwind_taper = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_TAPER_LEFT, BOLT_2022_2023_UNWIND_TAPER_RIGHT) *
|
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unwind_weight * unwind_envelope)
|
|
return 1.0 + (extra_scale * turn_in_boost * max(unwind_taper, 0.0))
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|
|
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def get_bolt_2022_2023_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0, desired_lateral_jerk: float = 0.0) -> float:
|
|
base_threshold = get_friction_threshold(v_ego)
|
|
transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
|
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phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
|
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turn_in_weight = max(phase, 0.0)
|
|
unwind_weight = max(-phase, 0.0)
|
|
threshold_scale = 1.0 - (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_LEFT, BOLT_2022_2023_TURN_IN_THRESHOLD_REDUCTION_RIGHT) *
|
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transition_envelope * turn_in_weight)
|
|
threshold_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_LEFT, BOLT_2022_2023_UNWIND_THRESHOLD_INCREASE_RIGHT) *
|
|
transition_envelope * unwind_weight)
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return base_threshold * min(max(threshold_scale, 0.84), 1.14)
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|
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|
|
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def get_bolt_2022_2023_friction_scale(v_ego: float, desired_lateral_accel: float, desired_lateral_jerk: float) -> float:
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|
transition_envelope = _bolt_2022_2023_transition_envelope(v_ego, desired_lateral_accel, desired_lateral_jerk)
|
|
phase = _bolt_2022_2023_transition_phase(desired_lateral_accel, desired_lateral_jerk)
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turn_in_weight = max(phase, 0.0)
|
|
unwind_weight = max(-phase, 0.0)
|
|
friction_scale = BOLT_2022_2023_FRICTION_MULT
|
|
friction_scale += (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_LEFT, BOLT_2022_2023_TURN_IN_FRICTION_BOOST_RIGHT) *
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|
transition_envelope * turn_in_weight)
|
|
friction_scale -= (_bolt_2022_2023_side_value(desired_lateral_accel, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT, BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT) *
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transition_envelope * unwind_weight)
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return min(max(friction_scale, 0.92), 1.22)
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class LatControlTorque(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.torque_params = CP.lateralTuning.torque.as_builder()
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self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
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self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
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self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
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self.update_limits()
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self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
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self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
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self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
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self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
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self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
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self.previous_measurement = 0.0
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self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
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self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
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self.steer_release_i_decay = 0.8
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self.prev_steering_pressed = False
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self.debug_counter = 0
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self.prev_desired_lateral_accel = 0.0
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|
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self.is_bolt = CP.carFingerprint in BOLT_CARS
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self.is_bolt_2022_2023 = CP.carFingerprint in BOLT_2022_2023_CARS
|
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self.is_bolt_2018_2021 = CP.carFingerprint in BOLT_2018_2021_CARS
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self.is_bolt_2017 = CP.carFingerprint in BOLT_2017_CARS
|
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self.use_bolt_ff_scaling = self.is_bolt_2022_2023 or self.is_bolt_2018_2021 or self.is_bolt_2017
|
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self.use_bolt_ki_multiplier = self.use_bolt_ff_scaling
|
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self.torque_ff_scale_pos = 1.0
|
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self.torque_ff_scale_neg = 1.0
|
|
self.torque_deadzone_boost = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
|
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self.torque_ki_mult = 1.0
|
|
if self.is_bolt:
|
|
kp_scale = getattr(self.torque_params, "kp", getattr(self.torque_params, "kpDEPRECATED", 1.0))
|
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ki_scale = getattr(self.torque_params, "ki", getattr(self.torque_params, "kiDEPRECATED", 1.0))
|
|
kd_scale = getattr(self.torque_params, "kd", getattr(self.torque_params, "kdDEPRECATED", 1.0))
|
|
self.torque_ff_scale_pos = float(kp_scale)
|
|
self.torque_ff_scale_neg = float(ki_scale)
|
|
self.torque_ki_mult = float(kd_scale)
|
|
if self.use_bolt_ki_multiplier and self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
|
|
self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
|
|
|
|
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
|
|
self.torque_params.latAccelFactor = latAccelFactor
|
|
self.torque_params.latAccelOffset = latAccelOffset
|
|
self.torque_params.friction = friction
|
|
self.update_limits()
|
|
|
|
def update_limits(self):
|
|
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
|
|
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
|
|
|
|
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.LateralTorqueState.new_message()
|
|
pid_log.version = VERSION
|
|
if not active:
|
|
output_torque = 0.0
|
|
pid_log.active = False
|
|
self.pid.reset()
|
|
self.previous_measurement = 0.0
|
|
self.measurement_rate_filter.x = 0.0
|
|
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
|
|
self.prev_desired_lateral_accel = 0.0
|
|
else:
|
|
if self.prev_steering_pressed and not CS.steeringPressed:
|
|
self.pid.i *= self.steer_release_i_decay
|
|
|
|
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
|
|
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
|
|
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
|
|
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
|
|
|
|
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
|
|
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
|
|
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
|
|
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
|
|
raw_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / max(lat_delay, self.dt)
|
|
raw_lateral_jerk = np.clip(raw_lateral_jerk, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
|
|
desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
|
|
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
|
|
setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
|
|
desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
|
|
unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
|
|
abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
|
|
self.prev_desired_lateral_accel = setpoint
|
|
|
|
measurement = measured_curvature * CS.vEgo ** 2
|
|
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
|
|
measurement_rate = np.clip(measurement_rate, -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
|
|
self.previous_measurement = measurement
|
|
|
|
low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
|
|
current_kp = np.interp(CS.vEgo, self.pid._k_p[0], self.pid._k_p[1])
|
|
error = setpoint - measurement
|
|
error_with_lsf = error * (1 + low_speed_factor / max(current_kp, 1e-3))
|
|
|
|
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
|
|
pid_log.error = float(error_with_lsf)
|
|
ff = gravity_adjusted_future_lateral_accel
|
|
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
|
|
ff -= self.torque_params.latAccelOffset
|
|
ff_scale = 1.0
|
|
if self.use_bolt_ff_scaling:
|
|
ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
|
|
[self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
|
|
ff *= ff_scale
|
|
bolt_2022_2023_test_active = self.is_bolt_2022_2023 and bolt_2022_2023_lateral_testing_ground_active()
|
|
bolt_2018_2021_test_active = self.is_bolt_2018_2021 and bolt_2018_2021_lateral_testing_ground_active()
|
|
friction_threshold = get_friction_threshold(CS.vEgo)
|
|
friction_scale = 1.0
|
|
if bolt_2022_2023_test_active:
|
|
ff *= get_bolt_2022_2023_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
|
|
friction_threshold = get_bolt_2022_2023_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
|
|
friction_scale = get_bolt_2022_2023_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
|
|
elif bolt_2018_2021_test_active:
|
|
friction_threshold = get_bolt_2018_2021_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
|
|
friction_scale = get_bolt_2018_2021_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
|
|
ff += friction_scale * get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, friction_threshold, self.torque_params)
|
|
deadzone_boost_active = False
|
|
if self.torque_deadzone_boost > 0.0 and abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
|
|
boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
|
|
ff += np.sign(gravity_adjusted_future_lateral_accel) * self.torque_deadzone_boost * boost_scale
|
|
deadzone_boost_active = True
|
|
|
|
if CS.vEgo < self.low_speed_reset_threshold:
|
|
self.pid.reset()
|
|
freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
|
|
CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
|
|
output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
|
|
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
|
|
if self.is_bolt_2017 and bolt_2017_lateral_testing_ground_active():
|
|
output_torque *= get_bolt_2017_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
|
|
elif bolt_2018_2021_test_active:
|
|
output_torque *= get_bolt_2018_2021_dynamic_torque_scale(setpoint, desired_lateral_jerk, CS.vEgo)
|
|
|
|
pid_log.active = True
|
|
pid_log.p = float(self.pid.p)
|
|
pid_log.i = float(self.pid.i)
|
|
pid_log.d = float(self.pid.d)
|
|
pid_log.f = float(self.pid.f)
|
|
pid_log.output = float(-output_torque) # TODO: log lat accel?
|
|
pid_log.actualLateralAccel = float(measurement)
|
|
pid_log.desiredLateralAccel = float(setpoint)
|
|
pid_log.desiredLateralJerk = float(desired_lateral_jerk)
|
|
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
|
|
|
|
if DEBUG_TORQUE_TUNE and self.is_bolt:
|
|
self.debug_counter += 1
|
|
if self.debug_counter % 50 == 0:
|
|
print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
|
|
f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
|
|
|
|
self.prev_steering_pressed = CS.steeringPressed
|
|
|
|
# TODO left is positive in this convention
|
|
return -output_torque, 0.0, pid_log
|