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Update disturbance_controller.py retry

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infiniteCable
2025-04-22 15:04:28 +02:00
committed by GitHub
parent 4f244102b8
commit ac8ac391bc
1 changed files with 24 additions and 25 deletions
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selfdrive/controls/lib/disturbance_controller.py
+24 -25
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@@ -11,57 +11,56 @@ ALPHA_MAX = 0.4
class DisturbanceController:
def __init__(self, CP):
self.lowpass_filtered = 0.0
self.lowpass_filtered_prev = 0.0
self.alpha_prev = ALPHA_MIN
self.desired_curvature_prev = 0.0
self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
self.reaction_hist = deque([0.0], maxlen=int(round(CP.steerActuatorDelay / DT_CTRL)) + 1)
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 = 0.0
self.lowpass_filtered_prev = 0.0
self.alpha_prev = ALPHA_MIN
self.desired_curvature_prev = 0.0
self.pid.reset()
self.reaction_hist.clear()
self.reaction_hist.append(0.0)
self.desired_curvature_hist.clear()
self.desired_curvature_hist.append(0.0)
def compute_dynamic_alpha(self, desired_curvature, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
d_desired = abs(desired_curvature - self.desired_curvature_prev) / dt
def compute_dynamic_alpha(self, desired_curvature_hist, 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)
self.alpha_prev = alpha
self.desired_curvature_prev = desired_curvature
return alpha
def lowpass_filter(self, current_value, alpha):
def lowpass_filter(self, current_value, lowpass_filtered_prev, alpha):
alpha = min(alpha, ALPHA_MAX)
if alpha >= ALPHA_MAX * 0.9:
reset_factor = (alpha - ALPHA_MIN) / (ALPHA_MAX - ALPHA_MIN)
self.lowpass_filtered = (1 - reset_factor) * self.lowpass_filtered + reset_factor * current_value
lowpass_filtered_prev = (1 - reset_factor) * lowpass_filtered_prev + reset_factor * current_value
else:
self.lowpass_filtered = (1 - alpha) * self.lowpass_filtered + alpha * current_value
return self.lowpass_filtered
lowpass_filtered_prev = (1 - alpha) * lowpass_filtered_prev + alpha * current_value
return lowpass_filtered_prev
def highpass_filter(self, current_value, lowpass_value):
return current_value - lowpass_value
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature, curvature_3dof):
def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
if calibrated_pose is None or CS.vEgo < 0.1:
return desired_curvature
steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
#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.)
actual_curvature = curvature_3dof
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(desired_curvature)
reaction = self.lowpass_filter(actual_curvature, alpha)
self.reaction_hist.append(reaction)
reaction_delayed = self.reaction_hist[0]
alpha = self.compute_dynamic_alpha(self.desired_curvature_hist)
reaction = self.lowpass_filter(actual_curvature, self.lowpass_filtered_prev, alpha)
disturbance = self.highpass_filter(actual_curvature, reaction)
error = desired_curvature + disturbance
error = disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
self.desired_curvature_hist.append(desired_curvature)
self.alpha_prev = alpha
self.lowpass_filtered_prev = reaction
return float(output_curvature)