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https://github.com/infiniteCable2/openpilot.git
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infiniteCable
67 lines
2.8 KiB
Python
67 lines
2.8 KiB
Python
import numpy as np
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import math
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from collections import deque
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from openpilot.common.pid import PIDController
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
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ALPHA_MIN = 0.004
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ALPHA_MAX = 0.4
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class DisturbanceController:
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def __init__(self, CP):
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self.lowpass_filtered_prev = 0.0
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self.alpha_prev = ALPHA_MAX
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self.pid = PIDController(1, 0, k_f=1, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
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self.length_des_curv_hist = int(round(CP.steerActuatorDelay / DT_CTRL)) + 1
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self.desired_curvature_hist = deque([0.0], maxlen=self.length_des_curv_hist)
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def reset(self):
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self.lowpass_filtered_prev = 0.0
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self.alpha_prev = ALPHA_MAX
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self.pid.reset()
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self.desired_curvature_hist.clear()
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self.desired_curvature_hist.append(0.0)
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def compute_dynamic_alpha(self, desired_curvature_hist, alpha_prev, dt=DT_CTRL, A=0.02, n=2.0, beta=3.0, k=2.0):
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if len(desired_curvature_hist) < self.length_des_curv_hist:
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return ALPHA_MAX
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d_desired = abs(desired_curvature_hist[0] - desired_curvature_hist[1]) / dt
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alpha_reactive = d_desired**n / (k * A) if A > 0 else 0.0
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alpha = np.clip(alpha_prev * np.exp(-beta * dt) + alpha_reactive, ALPHA_MIN, ALPHA_MAX)
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return alpha
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def lowpass_filter(self, current_value, lowpass_filtered_prev, alpha):
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alpha = min(alpha, ALPHA_MAX)
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if alpha >= ALPHA_MAX * 0.9:
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reset_factor = (alpha - ALPHA_MIN) / (ALPHA_MAX - ALPHA_MIN)
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lowpass_filtered = (1 - reset_factor) * lowpass_filtered_prev + reset_factor * current_value
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else:
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lowpass_filtered = (1 - alpha) * lowpass_filtered_prev + alpha * current_value
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return lowpass_filtered
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def highpass_filter(self, current_value, lowpass_value):
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return current_value - lowpass_value
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def compensate(self, CS, VM, params, calibrated_pose, desired_curvature):
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if calibrated_pose is None or CS.vEgo < 0.1:
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return desired_curvature
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steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
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actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
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calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset, 0.)
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alpha = self.compute_dynamic_alpha(self.desired_curvature_hist, self.alpha_prev)
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reaction = self.lowpass_filter(actual_curvature, self.lowpass_filtered_prev, alpha)
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disturbance = self.highpass_filter(actual_curvature, reaction)
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error = disturbance
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output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
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self.desired_curvature_hist.append(desired_curvature)
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self.alpha_prev = alpha
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self.lowpass_filtered_prev = reaction
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return float(output_curvature)
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