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Update latcontrol_curvature.py

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infiniteCable
2025-07-24 16:47:42 +02:00
committed by GitHub
parent 11da22e9e2
commit 767c2cb51e
1 changed files with 2 additions and 6 deletions
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selfdrive/controls/lib/latcontrol_curvature.py
+2 -6
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@@ -11,7 +11,6 @@ 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)
@@ -27,13 +26,12 @@ class LatControlCurvature(LatControl):
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
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
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
error = desired_curvature_corr - actual_curvature
@@ -42,8 +40,6 @@ class LatControlCurvature(LatControl):
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)
pid_log.i = float(self.pid.i)