import math import numpy as np from collections import deque from iqpilot.cereal import log from iqdbc.car.lateral import get_friction from iqpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY from iqpilot.common.filter_simple import FirstOrderFilter from iqpilot.common.params import Params from iqpilot.selfdrive.controls.lib.latcontrol import LatControl from iqpilot.selfdrive.controls.lib.lateral_acceleration_slew_limiter import LateralAccelerationSlewLimiter from iqpilot.common.pid import PIDController FRICTION_THRESHOLD_PQ = 1.0 KP = 0.8 KI = 0.15 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 = 1.5 JERK_LOOKAHEAD_SECONDS = 0.34 JERK_GAIN = 0.3 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0 VERSION = 1 DEFAULT_LAT_ACCEL_FACTOR = 2.2 DEFAULT_LAT_ACCEL_OFFSET = -0.13 DEFAULT_FRICTION = 0.1 FREEZE_LIVE_TORQUE_PARAMS = True ASSIST_COMPENSATION = True ASSIST_SPEEDS_KPH = [0.0, 50.0, 120.0] ASSIST_GAIN = [0.688, 0.883, 1.211] ASSIST_REF_KPH = 100.0 def _assist_comp(v_ego_ms): import numpy as _np ref = _np.interp(ASSIST_REF_KPH, ASSIST_SPEEDS_KPH, ASSIST_GAIN) g = _np.interp(v_ego_ms * 3.6, ASSIST_SPEEDS_KPH, ASSIST_GAIN) return float(_np.clip(ref / g, 0.7, 1.6)) class LatControlTorquePQ(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_params.latAccelFactor = DEFAULT_LAT_ACCEL_FACTOR self.torque_params.latAccelOffset = DEFAULT_LAT_ACCEL_OFFSET self.torque_params.friction = DEFAULT_FRICTION 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, 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.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt) self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt) self.lateral_acceleration_slew_limiter = LateralAccelerationSlewLimiter(Params().get_bool("IQLateralAccelSlew")) self.curvature_lookahead_enabled = Params().get_bool("IQLateralCurvatureLookahead") def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): if FREEZE_LIVE_TORQUE_PARAMS: return 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 measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) measurement = measured_curvature * CS.vEgo ** 2 target_curvature = desired_curvature if self.curvature_lookahead_enabled and lookahead_curvature is not None: target_curvature = lookahead_curvature if not active and self.lateral_acceleration_slew_limiter.enabled: self.lateral_acceleration_slew_limiter.reset(target_curvature * CS.vEgo ** 2) limited_curvature = self.lateral_acceleration_slew_limiter.update(target_curvature, CS.vEgo, self.dt) future_desired_lateral_accel = limited_curvature * CS.vEgo ** 2 self.lat_accel_request_buffer.append(future_desired_lateral_accel) 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, 1, self.lat_accel_request_buffer_len)) expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames] setpoint = expected_lateral_accel error = setpoint - measurement lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len + 1, -2)) raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx + 1] - self.lat_accel_request_buffer[lookahead_idx - 1]) / (2 * self.dt) desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk) gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation ff = gravity_adjusted_future_lateral_accel ff -= self.torque_params.latAccelOffset ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD_PQ, self.torque_params) if not active: output_torque = 0.0 pid_log.active = False else: pid_log.error = float(error) freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5 output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator) output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params) if ASSIST_COMPENSATION: output_torque = float(np.clip(output_torque * _assist_comp(CS.vEgo), -self.steer_max, self.steer_max)) 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