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Update latcontrol_curvature.py

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infiniteCable
2025-07-24 15:15:03 +02:00
committed by GitHub
parent efafff9dad
commit 57466c2fc3
1 changed files with 11 additions and 6 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+11 -6
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@@ -11,6 +11,7 @@ CURVATURE_SATURATION_THRESHOLD = 5e-4 # rad/m
class LatControlCurvature(LatControl):
def __init__(self, CP, CP_SP, CI):
super().__init__(CP, CP_SP, CI)
self.useCarCurvature = CP.lateralTuning.pid.carCurvatureCorrection
self.pid = PIDController((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)
@@ -25,20 +26,23 @@ class LatControlCurvature(LatControl):
output_curvature = 0.0
pid_log.active = False
self.pid.reset()
else:
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
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])
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
desired_curvature_corr = desired_curvature - roll_compensation
pid_log.error = float(desired_curvature_corr - actual_curvature)
error = desired_curvature_corr - actual_curvature
freeze_integrator = steer_limited_by_controls or CS.vEgo < 5
output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
pid_curvature = self.pid.update(error, feedforward=desired_curvature_corr, speed=CS.vEgo,
freeze_integrator=freeze_integrator, override=CS.steeringPressed)
output_curvature = pid_curvature + (CS.curvature - actual_curvature_vm_no_roll) if self.useCarCurvature else pid_curvature
pid_log.active = True
pid_log.p = float(self.pid.p)
@@ -48,5 +52,6 @@ class LatControlCurvature(LatControl):
pid_log.actualCurvature = float(actual_curvature)
pid_log.desiredCurvature = float(desired_curvature)
pid_log.saturated = bool(self._check_saturation(steer_limited_by_controls, CS, False, curvature_limited))
pid_log.error = float(error)
return 0.0, 0.0, output_curvature, pid_log