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Update disturbance_controller.py

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infiniteCable2
2025-04-06 17:55:54 +02:00
committed by GitHub
parent 19561a40eb
commit 0e0321ae2f
1 changed files with 7 additions and 2 deletions
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selfdrive/controls/lib/disturbance_controller.py
+7 -2
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@@ -11,6 +11,7 @@ class DisturbanceController:
self.lowpass_filtered = 0.0
self.alpha_prev = ALPHA_MIN
self.desired_curvature_prev = 0.0
self.pid = PIDController(1, 1, k_f=0, pos_limit=0.2, neg_limit=-0.2)
def compute_dynamic_alpha(self, desired_curvature, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
d_desired = abs(desired_curvature - self.desired_curvature_prev) / dt
@@ -32,8 +33,12 @@ class DisturbanceController:
def highpass_filter(self, current_value, lowpass_value):
return current_value - lowpass_value
def compute_disturbance(self, desired_curvature, actual_curvature):
def compensate(self, desired_curvature, actual_curvature):
alpha = self.compute_dynamic_alpha(desired_curvature)
reaction = self.lowpass_filter(actual_curvature, alpha)
disturbance = self.highpass_filter(actual_curvature, reaction)
return disturbance
error = desired_curvature - disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
return output_curvature