From 6f4ef8ef1e51cfb2194e95220ada9e77ca16fc87 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 11 Feb 2024 16:27:05 -0500 Subject: [PATCH] Revert "NNLC: Fixes" This reverts commit 852200f4d04c1f4a06e5f2a0906d34a8f9493d02. --- selfdrive/controls/lib/latcontrol_torque.py | 50 ++++++++++----------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 1b122b4522..5591cd0c29 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -87,7 +87,6 @@ class LatControlTorque(LatControl): # Twilsonco's Lateral Neural Network Feedforward self.use_nn = CI.has_lateral_torque_nn - self.use_lateral_jerk = CI.use_lateral_jerk if self.use_nn or self.use_lateral_jerk: # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, @@ -164,6 +163,7 @@ class LatControlTorque(LatControl): 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 + actual_lateral_jerk = 0.0 if self.use_steering_angle: actual_curvature = actual_curvature_vm curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) @@ -174,7 +174,6 @@ class LatControlTorque(LatControl): actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) curvature_deadzone = 0.0 - actual_lateral_jerk = 0.0 desired_lateral_accel = desired_curvature * CS.vEgo ** 2 # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature @@ -188,32 +187,27 @@ class LatControlTorque(LatControl): lateral_jerk_setpoint = 0 lateral_jerk_measurement = 0 + lookahead_lateral_jerk = 0 if self.use_nn or self.use_lateral_jerk: # prepare "look-ahead" desired lateral jerk - lat_accel_friction_factor = self.lat_accel_friction_factor - if len(model_data.acceleration.y) == ModelConstants.IDX_N: - lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) - friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) - predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs) - desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time - lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk) - if self.use_steering_angle or lookahead_lateral_jerk == 0.0: - lookahead_lateral_jerk = 0.0 - actual_lateral_jerk = 0.0 - lat_accel_friction_factor = 1.0 - lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk - lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk - else: - lateral_jerk_setpoint = 0.0 - lateral_jerk_measurement = 0.0 + lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) + friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) + predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs) + desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - actual_lateral_accel) / self.desired_lat_jerk_time + lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk) + if self.use_steering_angle or lookahead_lateral_jerk == 0.0: lookahead_lateral_jerk = 0.0 + actual_lateral_jerk = 0.0 + self.lat_accel_friction_factor = 1.0 + lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk + lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N if self.use_nn and model_good: # update past data roll = params.roll - pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) if len(llk.calibratedOrientationNED.value) > 1 else 0.0 + pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) roll = roll_pitch_adjust(roll, pitch) self.roll_deque.append(roll) self.lateral_accel_desired_deque.append(desired_lateral_accel) @@ -240,7 +234,7 @@ class LatControlTorque(LatControl): # compute feedforward (same as nn setpoint output) error = setpoint - measurement - friction_input = lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \ + past_lateral_accels_desired + future_planned_lateral_accels \ + past_rolls + future_rolls @@ -248,18 +242,24 @@ class LatControlTorque(LatControl): # apply friction override for cars with low NN friction response if self.nn_friction_override: - pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params, - friction_input, lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False) + pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params, + friction_input, + lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False) nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input else: gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) + lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) + lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_lateral_jerk, gravity_adjusted=False) pid_log.error = torque_from_setpoint - torque_from_measurement + error = desired_lateral_accel - actual_lateral_accel + if self.use_lateral_jerk: + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + else: + friction_input = error ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True, + friction_input, lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5