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github-actions[bot]
db98aa0b3f
version: sunnypilot v2026.003.000 (feature-branch)
date: 2026-08-20T08:08:51
master commit: 2e5f023357
84 lines
3.1 KiB
Python
84 lines
3.1 KiB
Python
import numpy as np
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from opendbc.car.structs import car
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
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from openpilot.common.pid import PIDController
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from openpilot.selfdrive.modeld.constants import ModelConstants
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from openpilot.sunnypilot.selfdrive.controls.lib.longcontrol import LongControlSP
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CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
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LongCtrlState = car.CarControl.Actuators.LongControlState
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def long_control_state_trans(CP_SP, active, long_control_state,
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should_stop, brake_pressed, cruise_standstill):
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# Gas Interceptor
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cruise_standstill = cruise_standstill and not CP_SP.enableGasInterceptor
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starting_condition = (not should_stop and
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not cruise_standstill and
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not brake_pressed)
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if not active:
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long_control_state = LongCtrlState.off
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else:
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if long_control_state == LongCtrlState.off:
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if not starting_condition:
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long_control_state = LongCtrlState.stopping
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else:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.stopping:
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if starting_condition:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.pid:
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if should_stop:
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long_control_state = LongCtrlState.stopping
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return long_control_state
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class LongControl(LongControlSP):
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def __init__(self, CP, CP_SP):
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LongControlSP.__init__(self)
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self.CP = CP
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self.CP_SP = CP_SP
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self.long_control_state = LongCtrlState.off
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self.pid = PIDController(0.0, (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
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rate=1 / DT_CTRL)
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self.last_output_accel = 0.0
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def reset(self):
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self.pid.reset()
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def update(self, active, CS, a_target, should_stop, accel_limits):
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"""Update longitudinal control. This updates the state machine and runs a PID loop"""
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self.pid.neg_limit = accel_limits[0]
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self.pid.pos_limit = accel_limits[1]
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self.long_control_state = long_control_state_trans(self.CP_SP, active, self.long_control_state,
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should_stop, CS.brakePressed,
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CS.cruiseState.standstill)
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LongControlSP.update_state(self, self.long_control_state == LongCtrlState.stopping, active, CS)
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if self.long_control_state == LongCtrlState.off:
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self.reset()
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output_accel = 0.
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elif self.long_control_state == LongCtrlState.stopping:
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output_accel = LongControlSP.stopping_accel(self, self.last_output_accel, CS)
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if output_accel > self.CP.stopAccel:
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output_accel = min(output_accel, 0.0)
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# TODO: can we just go straight to stopAccel?
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output_accel -= LongControlSP.stopping_decel_rate(self, CS, a_target, output_accel) * DT_CTRL
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self.reset()
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else: # LongCtrlState.pid
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error = a_target - CS.aEgo
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output_accel = self.pid.update(error, speed=CS.vEgo,
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feedforward=a_target)
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self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
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return self.last_output_accel
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