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Update latcontrol_curvature.py

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infiniteCable
2025-07-21 23:05:58 +02:00
committed by GitHub
parent 3df605f06e
commit ad84d849c3
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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@@ -14,6 +14,7 @@ class LatControlCurvature(LatControl):
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)
self.useCarCurvature = CP.lateralTuning.pid.carCurvatureCorrection
def reset(self):
super().reset()
@@ -25,19 +26,23 @@ class LatControlCurvature(LatControl):
output_curvature = 0.0
pid_log.active = False
self.pid.reset()
else:
else:
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])
curvature_correction = CS.curvature - actual_curvature if self.useCarCurvature else 0.
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
correction = curvature_correction - roll_compensation
desired_curvature_corr = desired_curvature + correction
actual_curvature_corr = actual_curvature + correction
pid_log.error = float(desired_curvature - actual_curvature)
pid_log.error = float(desired_curvature_corr - actual_curvature_corr)
freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
corrected_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo)
output_curvature = corrected_curvature - roll_compensation
output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature_corr, speed=CS.vEgo, freeze_integrator=freeze_integrator)
pid_log.active = True
pid_log.p = float(self.pid.p)