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https://github.com/dragonpilot/dragonpilot.git
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Ford: use curvature signal for lateral control (#27091)
* do carcontroller Co-authored-by: Cameron Clough <cameronjclough@gmail.com> * values done * just send latActive in, cleaner * Update selfdrive/car/ford/values.py * fix a crash * adjust ramp as well Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
This commit is contained in:
Shane Smiskol
@@ -1,28 +1,14 @@
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import math
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from cereal import car
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from common.numpy_fast import clip, interp
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from common.numpy_fast import clip
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_angle_limits
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from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg
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from selfdrive.car.ford.values import CANBUS, CarControllerParams
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
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# rate limit
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steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
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rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
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max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
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apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
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# absolute limit (LatCtlPath_An_Actl)
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apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
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apply_path_angle = clip(apply_path_angle, -0.5, 0.5235)
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apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO
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return apply_angle
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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@@ -30,7 +16,7 @@ class CarController:
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self.packer = CANPacker(dbc_name)
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self.frame = 0
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self.apply_angle_last = 0
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self.apply_curvature_last = 0
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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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@@ -57,34 +43,33 @@ class CarController:
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can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
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### lateral control ###
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if CC.latActive:
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lca_rq = 1
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apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
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else:
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lca_rq = 0
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apply_angle = 0.
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# send steering commands at 20Hz
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if (self.frame % CarControllerParams.STEER_STEP) == 0:
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# use LatCtlPath_An_Actl to actuate steering
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path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
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if CC.latActive:
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# apply limits to curvature
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apply_curvature = -self.VM.calc_curvature(math.radians(actuators.steeringAngleDeg), CS.out.vEgo, 0.0)
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apply_curvature = apply_std_steer_angle_limits(apply_curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
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# clip to signal range
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apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
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else:
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apply_curvature = 0.
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# set slower ramp type when small steering angle change
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# 0=Slow, 1=Medium, 2=Fast, 3=Immediately
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steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
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if steer_change < 2.0:
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if steer_change < 2.5:
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ramp_type = 0
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elif steer_change < 4.0:
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elif steer_change < 5.0:
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ramp_type = 1
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elif steer_change < 6.0:
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elif steer_change < 7.5:
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ramp_type = 2
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else:
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ramp_type = 3
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precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
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self.apply_angle_last = apply_angle
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self.apply_curvature_last = apply_curvature
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can_sends.append(create_lka_msg(self.packer))
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can_sends.append(create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision, 0, path_angle, 0, 0))
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can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, ramp_type, precision, 0., 0., -apply_curvature, 0.))
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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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@@ -102,7 +87,7 @@ class CarController:
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self.steer_alert_last = steer_alert
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new_actuators = actuators.copy()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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new_actuators.curvature = self.apply_curvature_last
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self.frame += 1
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return new_actuators, can_sends
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@@ -16,7 +16,7 @@ def create_lka_msg(packer):
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return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
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def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float,
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def create_lat_ctl_msg(packer, lat_active: bool, ramp_type: int, precision: int, path_offset: float, path_angle: float,
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curvature: float, curvature_rate: float):
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"""
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Creates a CAN message for the Ford TJA/LCA Command.
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@@ -42,7 +42,7 @@ def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path
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values = {
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"LatCtlRng_L_Max": 0, # Unknown [0|126] meter
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"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
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"LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
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"LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
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# 3=InterventionRight, 4-7=NotUsed [0|7]
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"LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
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"LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
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@@ -9,7 +9,7 @@ from selfdrive.car.docs_definitions import CarInfo, Harness
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from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
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CurvatureLimit = namedtuple('CurvatureLimit', ['speed_points', 'max_angle_diff_points'])
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class CarControllerParams:
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@@ -22,12 +22,13 @@ class CarControllerParams:
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# Message: Steering_Data_FD1, but send twice as fast
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BUTTONS_STEP = 10 / 2
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LKAS_STEER_RATIO = 2.75 # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians
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# TODO: remove this once we understand how the EPS calculates the steering angle better
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STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold in Nm
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CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1
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STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold, Nm
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RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
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RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
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# Curvature rate limits
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# TODO: unify field names used by curvature and angle control cars
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ANGLE_RATE_LIMIT_UP = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.005, 0.00056, 0.0002])
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ANGLE_RATE_LIMIT_DOWN = CurvatureLimit(speed_points=[5, 15, 25], max_angle_diff_points=[0.008, 0.00089, 0.00032])
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def __init__(self, CP):
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pass
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