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Update disturbance_controller.py

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infiniteCable
2025-04-22 17:07:19 +02:00
committed by GitHub
parent a55bb51474
commit 34e00dfc79
1 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/disturbance_controller.py
+5 -5
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@@ -12,24 +12,24 @@ ALPHA_MAX = 0.4
class DisturbanceController:
def __init__(self, CP):
self.lowpass_filtered_prev = 0.0
self.alpha_prev = ALPHA_MIN
self.alpha_prev = ALPHA_MAX
self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
self.length_des_curv_hist = int(round(CP.steerActuatorDelay / DT_CTRL)) + 1
self.desired_curvature_hist = deque([0.0], maxlen=self.length_des_curv_hist)
def reset(self):
self.lowpass_filtered_prev = 0.0
self.alpha_prev = ALPHA_MIN
self.alpha_prev = ALPHA_MAX
self.pid.reset()
self.desired_curvature_hist.clear()
self.desired_curvature_hist.append(0.0)
def compute_dynamic_alpha(self, desired_curvature_hist, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
def compute_dynamic_alpha(self, desired_curvature_hist, alpha_prev, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
if len(desired_curvature_hist) < self.length_des_curv_hist:
return ALPHA_MAX
d_desired = abs(desired_curvature_hist[0] - desired_curvature_hist[1]) / dt
alpha_reactive = d_desired**n / (k * A) if A > 0 else 0.0
alpha = np.clip(self.alpha_prev * np.exp(-beta * dt) + alpha_reactive, ALPHA_MIN, ALPHA_MAX)
alpha = np.clip(alpha_prev * np.exp(-beta * dt) + alpha_reactive, ALPHA_MIN, ALPHA_MAX)
return alpha
def lowpass_filter(self, current_value, lowpass_filtered_prev, alpha):
@@ -52,7 +52,7 @@ class DisturbanceController:
actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset, 0.)
alpha = self.compute_dynamic_alpha(self.desired_curvature_hist)
alpha = self.compute_dynamic_alpha(self.desired_curvature_hist, self.alpha_prev)
reaction = self.lowpass_filter(actual_curvature, self.lowpass_filtered_prev, alpha)
disturbance = self.highpass_filter(actual_curvature, reaction)