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LongControl: fix control state oscillation (#23333)

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* check if plan is to accelerate or not

* remove comment

* needed to see it

needed to see it

* test logic with Toyota TSS2

* hackily log conditions

* Revert "hackily log conditions"

This reverts commit 7a6b5691e2b982c7a1e3911d980fb7530647affd.

Revert "test logic with Toyota TSS2"

This reverts commit e583d6e3caaa5f5b896165cd7949dfc1caabfd9a.

order

* revert

* fix
old-commit-hash: 7254db3906
This commit is contained in:
Shane Smiskol
2022-03-03 03:27:24 -08:00
committed by GitHub
parent 0d5d9a43d3
commit 83e26d674f
2 changed files with 7 additions and 6 deletions
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selfdrive/car/interfaces.py
+1 -1
View File
@@ -88,7 +88,7 @@ class CarInterfaceBase(ABC):
ret.stopAccel = -2.0
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation
ret.vEgoStarting = 0.5
ret.stoppingControl = True
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
selfdrive/controls/lib/longcontrol.py
+6 -5
View File
@@ -12,14 +12,15 @@ ACCEL_MIN_ISO = -3.5 # m/s^2
ACCEL_MAX_ISO = 2.0 # m/s^2
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
brake_pressed, cruise_standstill):
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
v_target_future, brake_pressed, cruise_standstill):
"""Update longitudinal control state machine"""
accelerating = v_target_future > v_target
stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
(v_ego < CP.vEgoStopping and
(v_target_future < CP.vEgoStopping or brake_pressed))
((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed))
starting_condition = v_target_future > CP.vEgoStarting and not cruise_standstill
starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill
if not active:
long_control_state = LongCtrlState.off
@@ -83,7 +84,7 @@ class LongControl():
# Update state machine
output_accel = self.last_output_accel
self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
v_target_future, CS.brakePressed,
v_target, v_target_future, CS.brakePressed,
CS.cruiseState.standstill)
if self.long_control_state == LongCtrlState.off or CS.gasPressed: