diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 63ae020aae..4e0d69a6ea 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -163,9 +163,13 @@ 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)) + if self.use_nn or self.use_lateral_jerk: + actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0) + actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 else: actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) @@ -180,15 +184,83 @@ class LatControlTorque(LatControl): low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nn else LOW_SPEED_Y_NN)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - 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) - 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) - pid_log.error = torque_from_setpoint - torque_from_measurement - 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, - gravity_adjusted=True) + + 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 + 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]) + roll = roll_pitch_adjust(roll, pitch) + self.roll_deque.append(roll) + self.lateral_accel_desired_deque.append(desired_lateral_accel) + + # prepare past and future values + # adjust future times to account for longitudinal acceleration + adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times] + past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets] + future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times] + past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets] + future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for t in adjusted_future_times] + + # compute NNFF error response + nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \ + + [setpoint] * self.past_future_len \ + + past_rolls + future_rolls + # past lateral accel error shouldn't count, so use past desired like the setpoint input + nnff_measurement_input = [CS.vEgo, measurement, lateral_jerk_measurement, roll] \ + + [measurement] * self.past_future_len \ + + past_rolls + future_rolls + torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input) + torque_from_measurement = self.torque_from_nn(nnff_measurement_input) + pid_log.error = torque_from_setpoint - torque_from_measurement + + # compute feedforward (same as nn setpoint output) + error = setpoint - measurement + 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 + ff = self.torque_from_nn(nn_input) + + # 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) + 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, + 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, + 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, + friction_input, lateral_accel_deadzone, friction_compensation=True, + gravity_adjusted=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error,