IQ.Pilot Prebuilt Release @ 83fbdd3
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IQ.Lvbs CI [bot]
203
artifacts/package_runtime/iqdbc/car/ford/carcontroller.py
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203
artifacts/package_runtime/iqdbc/car/ford/carcontroller.py
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import math
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import numpy as np
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from iqdbc.can import CANPacker
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from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
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from iqdbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
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from iqdbc.car.ford import fordcan
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from iqdbc.car.ford.values import CarControllerParams, FordFlags, CAR
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from iqdbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
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LongCtrlState = structs.CarControl.Actuators.LongControlState
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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# CAN FD limits:
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# Limit to average banked road since safety doesn't have the roll
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AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
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MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2
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def anti_overshoot(apply_curvature, apply_curvature_last, v_ego):
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diff = 0.1
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tau = 5 # 5s smooths over the overshoot
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dt = DT_CTRL * CarControllerParams.STEER_STEP
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alpha = 1 - np.exp(-dt / tau)
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lataccel = apply_curvature * (v_ego ** 2)
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last_lataccel = apply_curvature_last * (v_ego ** 2)
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last_lataccel = apply_hysteresis(lataccel, last_lataccel, diff)
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last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel
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output_curvature = last_lataccel / (max(v_ego, 1) ** 2)
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return float(np.interp(v_ego, [5, 10], [apply_curvature, output_curvature]))
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def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
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# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
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if v_ego_raw > 9:
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apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
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current_curvature + CarControllerParams.CURVATURE_ERROR)
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# Curvature rate limit after driver torque limit
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apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, steering_angle, lat_active, CarControllerParams.ANGLE_LIMITS)
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# Ford Q4/CAN FD has more torque available compared to Q3/CAN so we limit it based on lateral acceleration.
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# Safety is not aware of the road roll so we subtract a conservative amount at all times
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if CP.flags & FordFlags.CANFD:
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# Limit curvature to conservative max lateral acceleration
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curvature_accel_limit = MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
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apply_curvature = float(np.clip(apply_curvature, -curvature_accel_limit, curvature_accel_limit))
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return apply_curvature
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def apply_creep_compensation(accel: float, v_ego: float) -> float:
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creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
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creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
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accel -= creep_accel
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return float(accel)
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP, CP_IQ):
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super().__init__(dbc_names, CP, CP_IQ)
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self.packer = CANPacker(dbc_names[Bus.pt])
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self.CAN = fordcan.CanBus(CP)
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self.apply_curvature_last = 0
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self.anti_overshoot_curvature_last = 0
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self.accel = 0.0
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self.gas = 0.0
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self.brake_request = False
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self.main_on_last = False
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self.lkas_enabled_last = False
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self.steer_alert_last = False
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self.lead_distance_bars_last = None
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self.distance_bar_frame = 0
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def update(self, CC, CC_IQ, CS, now_nanos):
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can_sends = []
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actuators = CC.actuators
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hud_control = CC.hudControl
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main_on = CS.out.cruiseState.available
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steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
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fcw_alert = hud_control.visualAlert == VisualAlert.fcw
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### acc buttons ###
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if CC.cruiseControl.cancel:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
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elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
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# if stock lane centering isn't off, send a button press to toggle it off
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# the stock system checks for steering pressed, and eventually disengages cruise control
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elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
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### lateral control ###
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# send steer msg at 20Hz
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if (self.frame % CarControllerParams.STEER_STEP) == 0:
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# Bronco and some other cars consistently overshoot curv requests
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# Apply some deadzone + smoothing convergence to avoid oscillations
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if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
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self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
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apply_curvature = self.anti_overshoot_curvature_last
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else:
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apply_curvature = actuators.curvature
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# apply rate limits, curvature error limit, and clip to signal range
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current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
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self.apply_curvature_last = apply_ford_curvature_limits(apply_curvature, self.apply_curvature_last, current_curvature,
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CS.out.vEgoRaw, 0., CC.latActive, self.CP)
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if self.CP.flags & FordFlags.CANFD:
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# TODO: extended mode
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# Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
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# can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
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# steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
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# A detailed explanation on ford control can be found here:
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# https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
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mode = 1 if CC.latActive else 0
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counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
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can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
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else:
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can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.))
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# send lka msg at 33Hz
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if (self.frame % CarControllerParams.LKA_STEP) == 0:
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can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
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### longitudinal control ###
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# send acc msg at 50Hz
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if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
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accel = actuators.accel
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gas = accel
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if CC.longActive:
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# Compensate for engine creep at low speed.
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# Either the ABS does not account for engine creep, or the correction is very slow
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# TODO: verify this applies to EV/hybrid
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accel = apply_creep_compensation(accel, CS.out.vEgo)
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# The stock system has been seen rate limiting the brake accel to 5 m/s^3,
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# however even 3.5 m/s^3 causes some overshoot with a step response.
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accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
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accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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# Both gas and accel are in m/s^2, accel is used solely for braking
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if not CC.longActive or gas < CarControllerParams.MIN_GAS:
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gas = CarControllerParams.INACTIVE_GAS
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# PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
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accel_due_to_pitch = 0.0
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if len(CC.orientationNED) == 3:
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accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
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accel_pitch_compensated = accel + accel_due_to_pitch
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if accel_pitch_compensated > 0.3 or not CC.longActive:
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self.brake_request = False
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elif accel_pitch_compensated < 0.0:
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self.brake_request = True
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stopping = CC.actuators.longControlState == LongCtrlState.stopping
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# TODO: look into using the actuators packet to send the desired speed
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can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
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self.accel = accel
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self.gas = gas
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### ui ###
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send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
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# send lkas ui msg at 1Hz or if ui state changes
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if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
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can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
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# send acc ui msg at 5Hz or if ui state changes
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if hud_control.leadDistanceBars != self.lead_distance_bars_last:
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send_ui = True
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self.distance_bar_frame = self.frame
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if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
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show_distance_bars = self.frame - self.distance_bar_frame < 400
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can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
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fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
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hud_control, CS.acc_tja_status_stock_values))
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self.main_on_last = main_on
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self.lkas_enabled_last = CC.latActive
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self.steer_alert_last = steer_alert
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self.lead_distance_bars_last = hud_control.leadDistanceBars
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new_actuators = actuators.as_builder()
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new_actuators.curvature = self.apply_curvature_last
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new_actuators.accel = self.accel
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new_actuators.gas = self.gas
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self.frame += 1
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return new_actuators, can_sends
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