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Merge pull request #3 from infiniteCable2/corr_car_contr_no_roll

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Remove Curvature PID Correction
This commit is contained in:
infiniteCable2
2025-09-04 18:37:30 +02:00
committed by GitHub
parent 95ce7f2f87 46fe675a74
commit 1fe54563fb
4 changed files with 69 additions and 41 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 400609b686...8d855e63d0
selfdrive/controls/controlsd.py
+2 -1
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@@ -172,7 +172,7 @@ class Controls(ControlsExt, ModelStateBase):
steer, steeringAngleDeg, curvature, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.steer_limited_by_safety, self.desired_curvature,
self.calibrated_pose, curvature_limited) # TODO what if not available
actuators.curvature = float(curvature) if self.enable_curvature_controller else self.desired_curvature
actuators.curvature = float(curvature)
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
# Ensure no NaNs/Infs
@@ -193,6 +193,7 @@ class Controls(ControlsExt, ModelStateBase):
CC.curvatureControllerActive = self.enable_curvature_controller # for car controller curvature correction activation
CC.currentCurvatureNoRoll = self.curvature_no_roll
CC.rollDEPRECATED = self.roll # for lateral iso limit calculation
CC.steerLimited = self.steer_limited_by_safety
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller
selfdrive/controls/lib/latcontrol_curvature.py
+10 -39
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@@ -1,9 +1,7 @@
import math
import numpy as np
from cereal import log
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid_mu import MultiplicativeUnwindPID
CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
@@ -11,46 +9,19 @@ CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.useCarSteerCurvature = CP.useCarSteerCurvature
self.pid = MultiplicativeUnwindPID((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
def reset(self):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
pid_log = log.ControlsState.LateralCurvatureState.new_message()
if not active:
output_curvature = 0.0
pid_log.active = False
self.pid.reset()
else:
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
actual_curvature_vm_no_roll = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
actual_curvature_vm = actual_curvature_vm_no_roll - roll_compensation
assert calibrated_pose is not None
actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
curvature_log = log.ControlsState.LateralCurvatureState.new_message()
actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
output_curvature = desired_curvature
curvature_log.active = active
curvature_log.output = float(output_curvature)
curvature_log.actualCurvature = float(actual_curvature)
curvature_log.desiredCurvature = float(output_curvature)
curvature_log.saturated = bool(self._check_saturation(steer_limited_by_safety, CS, False, curvature_limited)) if active else False
desired_curvature_corr = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature - actual_curvature)
freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarSteerCurvature else pid_curvature
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.f = float(self.pid.f)
pid_log.output = float(output_curvature)
pid_log.actualCurvature = float(actual_curvature)
pid_log.desiredCurvature = float(desired_curvature)
pid_log.saturated = bool(self._check_saturation(steer_limited_by_safety, CS, False, curvature_limited))
return 0.0, 0.0, output_curvature, pid_log
return 0.0, 0.0, output_curvature, curvature_log
selfdrive/controls/lib/latcontrol_curvature_pid_backup.py
+56
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@@ -0,0 +1,56 @@
#import math
#import numpy as np
#
#from cereal import log
#from openpilot.selfdrive.controls.lib.latcontrol import LatControl
#from openpilot.common.pid_mu import MultiplicativeUnwindPID
#
#CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
#
#
#class LatControlCurvature(LatControl):
# def __init__(self, CP, CP_SP, CI):
# super().__init__(CP, CP_SP, CI)
# self.useCarSteerCurvature = CP.useCarSteerCurvature
# self.pid = MultiplicativeUnwindPID((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
# (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
# k_f=CP.lateralTuning.pid.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
#
# def reset(self):
# super().reset()
# self.pid.reset()
#
# def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
# pid_log = log.ControlsState.LateralCurvatureState.new_message()
# if not active:
# output_curvature = 0.0
# pid_log.active = False
# self.pid.reset()
# else:
# roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
# actual_curvature_vm_no_roll = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, 0.)
# actual_curvature_vm = actual_curvature_vm_no_roll - roll_compensation
# assert calibrated_pose is not None
# actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
# actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
#
# desired_curvature_corr = desired_curvature - roll_compensation
#
# pid_log.error = float(desired_curvature - actual_curvature)
# freeze_integrator = steer_limited_by_safety or CS.vEgo < 5 or CS.steeringPressed
#
# pid_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
# freeze_integrator=freeze_integrator, override=CS.steeringPressed)
#
# output_curvature = pid_curvature + (CS.steeringCurvature - actual_curvature_vm_no_roll) if self.useCarSteerCurvature else pid_curvature
#
# pid_log.active = True
# pid_log.p = float(self.pid.p)
# pid_log.i = float(self.pid.i)
# pid_log.f = float(self.pid.f)
# pid_log.output = float(output_curvature)
# pid_log.actualCurvature = float(actual_curvature)
# pid_log.desiredCurvature = float(desired_curvature)
# pid_log.saturated = bool(self._check_saturation(steer_limited_by_safety, CS, False, curvature_limited))
#
# return 0.0, 0.0, output_curvature, pid_log