53 lines
2.7 KiB
Python
53 lines
2.7 KiB
Python
import math
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from iqpilot.cereal import log
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from iqpilot.common.params import Params
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from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
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from iqpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
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# TODO This is speed dependent
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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_IQ, CI, dt):
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super().__init__(CP, CP_IQ, CI, dt)
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self.sat_check_min_speed = 5.
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self.use_steer_limited_by_safety = CP.brand == "tesla"
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self.curvature_lookahead_enabled = Params().get_bool("IQLateralCurvatureLookahead")
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self.target_curvature_last = 0.0
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def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited, lat_delay,
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lookahead_curvature=None):
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angle_log = log.ControlsState.LateralAngleState.new_message()
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# the rack has ~70 ms of dead time before the wheel moves (measured on VW MQB), so track the
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# curvature the path will need after lat_delay rather than the one it needs now. controlsd passes
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# lookahead_curvature=None in maneuver mode, which keeps the maneuver report measuring raw response.
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# controlsd only runs clip_curvature on desired_curvature, so the lookahead has to be bounded here
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# or the ISO jerk/accel limits are bypassed on the way to the rack.
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target_curvature = desired_curvature
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if active and self.curvature_lookahead_enabled and lookahead_curvature is not None:
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target_curvature, _ = clip_curvature(CS.vEgo, self.target_curvature_last, lookahead_curvature, params.roll)
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self.target_curvature_last = target_curvature
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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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angle_steers_des = math.degrees(VM.get_steer_from_curvature(-target_curvature, CS.vEgo, params.roll))
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angle_steers_des += params.angleOffsetDeg
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if self.use_steer_limited_by_safety:
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# these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
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angle_control_saturated = steer_limited_by_safety
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else:
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# for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
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# or relying on EPS (Ford Q3), carOutput does not capture maxing out torque # TODO: this can be improved
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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 = angle_steers_des
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return 0, float(angle_steers_des), angle_log
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