Create latcontrol_curvature.py

2026-09-04 15:23:42 +08:00 · 2025-06-06 21:47:19 +02:00
parent babf474a53
commit e53e3e309f
1 changed files with 45 additions and 0 deletions
@@ -0,0 +1,45 @@
+#import math
+#import numpy as np
+#
+#from cereal import log
+#from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+#from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+#from openpilot.common.pid import PIDController
+#
+#
+#class LatControlCurvature(LatControl):
+#  def __init__(self, CP, CI):
+#    super().__init__(CP, CI)
+#    self.curvature_params = CP.lateralTuning.curvature.as_builder()
+#    self.pid = PIDController(self.curvature_params.kp, self.curvature_params.ki,
+#                             k_f=self.curvature_params.kf, pos_limit=self.curvature_max, neg_limit=-self.curvature_max)
+#
+#  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+#    pid_log = log.ControlsState.LateralCurvatureState.new_message()
+#    if not active:
+#      output_curvature = 0.0
+#      pid_log.active = False
+#    else:
+#      actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+#      #roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+#
+#      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])
+#
+#      pid_log.error = float(desired_curvature - actual_curvature)
+#
+#      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
+#      output_curvature = self.pid.update(pid_log.error, feedforward=desired_curvature, speed=CS.vEgo, freeze_integrator=freeze_integrator)
+#
+#      pid_log.active = True
+#      pid_log.p = float(self.pid.p)
+#      pid_log.i = float(self.pid.i)
+#      pid_log.d = float(self.pid.d)
+#      pid_log.f = float(self.pid.f)
+#      pid_log.output = float(output_curvature)
+#      pid_log.actualCurvature = float(actual_curvature)
+#      pid_log.desiredCurvature = float(desired_curvature)
+#      pid_log.saturated = bool(self._check_saturation(self.curvature_max - abs(output_curvature) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+#
+#    return 0.0, 0.0, pid_log