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DevTekVE
45d110830c
Replaced `self._params` with `self.params` to correctly access the parameter `HkgTuningAngleSmoothingFactor`. This ensures the smoothing factor is updated as intended during the control loop.
48 lines
2.2 KiB
Python
48 lines
2.2 KiB
Python
import math
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import numpy as np
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from openpilot.common.params_pyx import Params
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from cereal import log
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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class LatControlAngle(LatControl):
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def __init__(self, CP, CP_SP, CI):
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super().__init__(CP, CP_SP, CI)
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self.params = Params()
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self.sat_check_min_speed = 5.0
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# Initialize the filtered curvature to zero (or an appropriate initial value)
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self.filtered_curvature = 0.0
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# Filter coefficient: adjust between 0 (very smooth) and 1 (no filtering)
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self.filter_speed_matrox = [0, 8.5, 11, 13.8, 22.22]
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self.filter_alpha_matrix = [0.05, 0.1, 0.3, 0.6, 1]
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self.count = 0
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self.smoothing_factor_incr = 0.
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def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
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self.count += 1
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if self.count % 25 == 0 and (smoothingFactorParam := self.params.get("HkgTuningAngleSmoothingFactor")):
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self.count = 0
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self.smoothing_factor_incr = float(smoothingFactorParam) / 10.0
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angle_log = log.ControlsState.LateralAngleState.new_message()
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if not active:
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angle_log.active = False
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angle_steers_des = float(CS.steeringAngleDeg)
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else:
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angle_log.active = True
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# Apply exponential smoothing to the curvature
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adjusted_alpha = max(float(np.interp(CS.vEgo, self.filter_speed_matrox, self.filter_alpha_matrix)) + self.smoothing_factor_incr, 1)
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self.filtered_curvature = (adjusted_alpha * desired_curvature + (1 - adjusted_alpha) * self.filtered_curvature)
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# Convert the smoothed curvature to a steering angle
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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-self.filtered_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
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angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
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angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
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angle_log.steeringAngleDesiredDeg = float(angle_steers_des)
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return 0, float(angle_steers_des), angle_log
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