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IQ.Pilot Release Commit @ 1399ceb

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IQ.Lvbs CI [bot]
2026-08-26 00:54:03 -05:00
parent 31a37f5a3c
commit 0d844a5ca2
31 changed files with 227 additions and 56 deletions
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20
iqpilot/selfdrive/controls/controlsd.py
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@@ -22,6 +22,7 @@ from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
from iqpilot.selfdrive.controls.lib.longcontrol import LongControl
from iqpilot.system.proprietary_runtime._verified_import import import_verified_module
from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
@@ -111,12 +112,20 @@ class Controls(IQControlsLayer):
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CP_IQ, self.CI, DT_CTRL)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
if self._use_pq_torque():
try:
self.LaC = LatControlTorquePQ(self.CP, self.CP_IQ, self.CI, DT_CTRL)
except Exception:
cloudlog.exception("LatControlTorquePQ init failed; using generic torque")
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
elif self._use_mqb_torque_v0():
try:
self.LaC = LatControlTorqueV0(self.CP, self.CP_IQ, self.CI, DT_CTRL)
except Exception:
cloudlog.exception("LatControlTorqueV0 init failed; using generic torque")
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
else:
self.LaC = LatControlTorque(self.CP, self.CP_IQ, self.CI, DT_CTRL)
def _use_pq_torque(self) -> bool:
try:
@@ -128,6 +137,13 @@ class Controls(IQControlsLayer):
cloudlog.exception("pq torque selection failed; using generic torque")
return False
def _use_mqb_torque_v0(self) -> bool:
try:
return is_vw_mqb_torque(self.CP)
except Exception:
cloudlog.exception("mqb torque v0 selection failed; using generic torque")
return False
def _update_params(self) -> None:
self.enable_curvature_controller = self.params.get_bool("EnableCurvatureController")
self.enable_smooth_steer = self.params.get_bool("EnableSmoothSteer")
@@ -320,7 +336,7 @@ class Controls(IQControlsLayer):
hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
if self.sm['selfdriveState'].active:
if CC.latActive:
CO = self.sm['carOutput']
if self.CP.steerControlType in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvatureDEPRECATED):
self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \

118
iqpilot/selfdrive/controls/lib/latcontrol_torque_v0.py Normal file
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@@ -0,0 +1,118 @@
# Copyright (c) 2018, Comma.ai, Inc.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
import math
from collections import deque
import numpy as np
from iqpilot.cereal import log
from iqdbc.car.lateral import FRICTION_THRESHOLD, get_friction
from iqpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from iqpilot.common.filter_simple import FirstOrderFilter
from iqpilot.common.pid import PIDController
from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
KP = 1.0
KI = 0.3
KD = 0.0
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
LP_FILTER_CUTOFF_HZ = 1.2
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
def is_vw_mqb_torque(CP):
if CP.brand != 'volkswagen':
return False
from iqdbc.car.volkswagen.values import VolkswagenFlags
excluded_platforms = VolkswagenFlags.PQ | VolkswagenFlags.MLB | VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO
return not bool(CP.flags & excluded_platforms)
class LatControlTorqueV0(LatControl):
def __init__(self, CP, CP_IQ, CI, dt):
super().__init__(CP, CP_IQ, CI, dt)
self.torque_params = CP.lateralTuning.torque.as_builder()
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1 / self.dt)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
self.update_limits()
def update_limits(self):
self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay,
lookahead_curvature=None):
pid_log = log.ControlsState.LateralTorqueState.new_message()
pid_log.version = VERSION
if not active:
output_torque = 0.0
pid_log.active = False
else:
measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
measurement = measured_curvature * CS.vEgo ** 2
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
self.previous_measurement = measurement
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
error = setpoint - measurement
pid_log.error = float(error)
feedforward = gravity_adjusted_future_lateral_accel
feedforward -= self.torque_params.latAccelOffset
feedforward += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_lataccel = self.pid.update(pid_log.error, -measurement_rate, feedforward=feedforward, speed=CS.vEgo,
freeze_integrator=freeze_integrator)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque)
pid_log.actualLateralAccel = float(measurement)
pid_log.desiredLateralAccel = float(setpoint)
pid_log.desiredLateralJerk = float(desired_lateral_jerk)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
return -output_torque, 0.0, pid_log

36
iqpilot/selfdrive/controls/tests/test_latcontrol.py
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@@ -6,12 +6,14 @@ from iqdbc.car.honda.values import CAR as HONDA
from iqdbc.car.toyota.values import CAR as TOYOTA
from iqdbc.car.nissan.values import CAR as NISSAN
from iqdbc.car.gm.values import CAR as GM
from iqdbc.car.volkswagen.values import CAR as VOLKSWAGEN
from iqdbc.car.vehicle_model import VehicleModel
from iqpilot.common.realtime import DT_CTRL
from iqpilot.selfdrive.car.helpers import convert_to_capnp
from iqpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from iqpilot.selfdrive.controls.lib.latcontrol_torque_pq import LatControlTorquePQ
from iqpilot.selfdrive.controls.lib.latcontrol_torque_v0 import LatControlTorqueV0, is_vw_mqb_torque
import iqpilot.selfdrive.controls.lib.latcontrol_torque_pq as latcontrol_torque_pq
from iqpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from iqpilot.selfdrive.locationd.helpers import Pose
@@ -31,7 +33,17 @@ class TestLatControl:
iqpilot_interfaces.apply_iq_car_config(CI)
return CP, LatControlTorquePQ(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque),
@staticmethod
def build_v0_controller():
car_name = TOYOTA.TOYOTA_RAV4
CarInterface = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name)
CP_IQ = CarInterface.get_non_essential_params_iq(CP, car_name)
CI = CarInterface(CP, CP_IQ)
iqpilot_interfaces.apply_iq_car_config(CI)
return CP, LatControlTorqueV0(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
@parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (TOYOTA.TOYOTA_RAV4, LatControlTorqueV0),
(NISSAN.NISSAN_LEAF, LatControlAngle), (GM.CHEVROLET_BOLT_EUV, LatControlTorque)])
def test_saturation(self, car_name, controller):
CarInterface = interfaces[car_name]
@@ -78,6 +90,28 @@ class TestLatControl:
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.2)
assert lac_log.active
def test_v0_uses_current_lateral_acceleration_setpoint(self):
CP, controller = self.build_v0_controller()
VM = VehicleModel(CP)
CS = car.CarState.new_message(vEgo=30)
params = log.VehicleParameters.new_message()
pose = Pose.from_live_pose(generate_deviceMotion().deviceMotion)
_, _, lac_log = controller.update(True, CS, VM, params, False, 0.001, pose, False, 0.3)
assert lac_log.version == 0
assert abs(lac_log.desiredLateralAccel - 0.9) < 1e-6
def test_v0_platform_selection(self):
mqb_interface = interfaces[VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8]
mqb_params = mqb_interface.get_non_essential_params(VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8)
assert is_vw_mqb_torque(mqb_params)
for car_name in (VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK7, VOLKSWAGEN.VOLKSWAGEN_GOLF_MK8,
VOLKSWAGEN.VOLKSWAGEN_ID4_MK1, VOLKSWAGEN.AUDI_A4_MK4, TOYOTA.TOYOTA_RAV4):
CarInterface = interfaces[car_name]
assert not is_vw_mqb_torque(CarInterface.get_non_essential_params(car_name))
def test_pq_controller_inactive_lookahead_and_slew_reset(self):
CP, controller = self.build_pq_controller()
controller.curvature_lookahead_enabled = True

2
iqpilot/selfdrive/locationd/lagd.py
View File

@@ -21,7 +21,7 @@ MIN_VEGO = 50.0 * CV.MPH_TO_MS
MIN_ABS_YAW_RATE = 0.0
MAX_YAW_RATE_SANITY_CHECK = 1.0
MIN_NCC = 0.95
MAX_LAG = 1.0
MAX_LAG = 0.65
MIN_LAG = 0.15
MAX_LAG_STD = 0.1
MAX_LAT_ACCEL = 2.0

8
iqpilot/selfdrive/locationd/test/test_lagd.py
View File

@@ -88,7 +88,7 @@ class TestLagd:
assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
def test_empty_estimator(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
msg = estimator.get_msg(True)
assert msg.lateralDelay.status == 'unestimated'
@@ -100,7 +100,7 @@ class TestLagd:
def test_estimator_basics(self, subtests):
for lag_frames in range(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1):
with subtests.test(msg=f"lag_frames={lag_frames}"):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
msg = estimator.get_msg(True)
@@ -112,7 +112,7 @@ class TestLagd:
assert msg.lateralDelay.calPerc == 100
def test_estimator_masking(self):
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.5), random.randint(LAGD_MIN_LAG_FRAMES, LAGD_MAX_LAG_FRAMES - 1)
estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
msg = estimator.get_msg(True)
@@ -122,7 +122,7 @@ class TestLagd:
@pytest.mark.timeout(60)
def test_estimator_performance(self):
mocked_CP = car.CarParams(steerActuatorDelay=0.8)
mocked_CP = car.CarParams(steerActuatorDelay=0.5)
estimator = LateralLagEstimator(mocked_CP, DT)
ds = []