mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-08-05 16:26:10 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update disturbance_controller.py

Browse Source
This commit is contained in:
infiniteCable
2025-04-19 19:37:24 +02:00
committed by GitHub
parent ed174aa82c
commit b83b1f871a
1 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/disturbance_controller.py
+11 -11
View File
@@ -15,15 +15,15 @@ class DisturbanceController:
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.reaction_hist = deque([0.0], maxlen=int(round(CP.steerActuatorDelay / DT_CTRL))+1)
def reset(self):
self.lowpass_filtered = 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.reaction_hist.clear()
#self.reaction_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
@@ -49,20 +49,20 @@ class DisturbanceController:
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.)
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 = calibrated_pose.acceleration.y / (CS.vEgo ** 2)
#actual_curvature = calibrated_pose.acceleration.y / (CS.vEgo ** 2)
alpha = self.compute_dynamic_alpha(desired_curvature)
reaction = self.lowpass_filter(actual_curvature, alpha)
self.reaction_hist.append(reaction)
#self.reaction_hist.append(reaction)
disturbance = self.highpass_filter(actual_curvature, reaction)
reaction_delayed = self.reaction_hist[0]
error = desired_curvature - (reaction_delayed + disturbance)
#reaction_delayed = self.reaction_hist[0]
error = desired_curvature - disturbance #(reaction_delayed + disturbance)
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)