132 lines
6.2 KiB
Python
132 lines
6.2 KiB
Python
import math
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import numpy as np
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from collections import deque
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from iqpilot.cereal import log
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from iqdbc.car.lateral import get_friction
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from iqpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
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from iqpilot.common.filter_simple import FirstOrderFilter
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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.lateral_acceleration_slew_limiter import LateralAccelerationSlewLimiter
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from iqpilot.common.pid import PIDController
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FRICTION_THRESHOLD_PQ = 1.0
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KP = 0.8
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KI = 0.15
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INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
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KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
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LP_FILTER_CUTOFF_HZ = 1.5
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JERK_LOOKAHEAD_SECONDS = 0.34
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JERK_GAIN = 0.3
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LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
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VERSION = 1
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DEFAULT_LAT_ACCEL_FACTOR = 2.2
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DEFAULT_LAT_ACCEL_OFFSET = -0.13
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DEFAULT_FRICTION = 0.1
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FREEZE_LIVE_TORQUE_PARAMS = True
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ASSIST_COMPENSATION = True
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ASSIST_SPEEDS_KPH = [0.0, 50.0, 120.0]
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ASSIST_GAIN = [0.688, 0.883, 1.211]
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ASSIST_REF_KPH = 100.0
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def _assist_comp(v_ego_ms):
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import numpy as _np
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ref = _np.interp(ASSIST_REF_KPH, ASSIST_SPEEDS_KPH, ASSIST_GAIN)
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g = _np.interp(v_ego_ms * 3.6, ASSIST_SPEEDS_KPH, ASSIST_GAIN)
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return float(_np.clip(ref / g, 0.7, 1.6))
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class LatControlTorquePQ(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.torque_params = CP.lateralTuning.torque.as_builder()
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self.torque_params.latAccelFactor = DEFAULT_LAT_ACCEL_FACTOR
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self.torque_params.latAccelOffset = DEFAULT_LAT_ACCEL_OFFSET
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self.torque_params.friction = DEFAULT_FRICTION
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self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
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self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
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self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
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self.update_limits()
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self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
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self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
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self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len, maxlen=self.lat_accel_request_buffer_len)
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self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
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self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
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self.lateral_acceleration_slew_limiter = LateralAccelerationSlewLimiter(Params().get_bool("IQLateralAccelSlew"))
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self.curvature_lookahead_enabled = Params().get_bool("IQLateralCurvatureLookahead")
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def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
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if FREEZE_LIVE_TORQUE_PARAMS:
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return
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self.torque_params.latAccelFactor = latAccelFactor
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self.torque_params.latAccelOffset = latAccelOffset
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self.torque_params.friction = friction
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self.update_limits()
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def update_limits(self):
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self.pid.set_limits(self.lateral_accel_from_torque(self.steer_max, self.torque_params),
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self.lateral_accel_from_torque(-self.steer_max, self.torque_params))
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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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pid_log = log.ControlsState.LateralTorqueState.new_message()
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pid_log.version = VERSION
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measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
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measurement = measured_curvature * CS.vEgo ** 2
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target_curvature = desired_curvature
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if self.curvature_lookahead_enabled and lookahead_curvature is not None:
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target_curvature = lookahead_curvature
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if not active and self.lateral_acceleration_slew_limiter.enabled:
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self.lateral_acceleration_slew_limiter.reset(target_curvature * CS.vEgo ** 2)
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limited_curvature = self.lateral_acceleration_slew_limiter.update(target_curvature, CS.vEgo, self.dt)
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future_desired_lateral_accel = limited_curvature * CS.vEgo ** 2
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self.lat_accel_request_buffer.append(future_desired_lateral_accel)
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roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
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curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
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lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
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delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
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expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
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setpoint = expected_lateral_accel
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error = setpoint - measurement
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lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len + 1, -2))
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raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx + 1] - self.lat_accel_request_buffer[lookahead_idx - 1]) / (2 * self.dt)
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desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
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gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
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ff = gravity_adjusted_future_lateral_accel
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ff -= self.torque_params.latAccelOffset
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ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD_PQ, self.torque_params)
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if not active:
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output_torque = 0.0
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pid_log.active = False
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else:
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pid_log.error = float(error)
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freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
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output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
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output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
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if ASSIST_COMPENSATION:
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output_torque = float(np.clip(output_torque * _assist_comp(CS.vEgo),
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-self.steer_max, self.steer_max))
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pid_log.active = True
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pid_log.p = float(self.pid.p)
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pid_log.i = float(self.pid.i)
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pid_log.d = float(self.pid.d)
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pid_log.f = float(self.pid.f)
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pid_log.output = float(-output_torque)
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pid_log.actualLateralAccel = float(measurement)
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pid_log.desiredLateralAccel = float(setpoint)
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pid_log.desiredLateralJerk = float(desired_lateral_jerk)
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pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
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return -output_torque, 0.0, pid_log
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