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curv controller only for logging and saturation

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infiniteCable2
2025-09-02 18:32:45 +02:00
parent 56eab9cc96
commit 4350bd0e98
2 changed files with 11 additions and 42 deletions
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selfdrive/controls/controlsd.py
+1 -1
View File
@@ -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
selfdrive/controls/lib/latcontrol_curvature.py
+10 -41
View File
@@ -1,9 +1,5 @@
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 +7,19 @@ 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