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https://github.com/sunnypilot/sunnypilot.git
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798e9071d8
# Conflicts: # .github/workflows/release.yaml # README.md # RELEASES.md # common/params_keys.h # docs/CARS.md # opendbc_repo # panda # release/build_stripped.sh # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/modeld/modeld.py # selfdrive/ui/feedback/feedbackd.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/version.py # uv.lock
101 lines
5.0 KiB
Python
101 lines
5.0 KiB
Python
import math
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import numpy as np
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from cereal import log
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from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
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from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.common.pid import PIDController
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from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import LatControlTorqueExt
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# At higher speeds (25+mph) we can assume:
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# Lateral acceleration achieved by a specific car correlates to
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# torque applied to the steering rack. It does not correlate to
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# wheel slip, or to speed.
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# This controller applies torque to achieve desired lateral
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# accelerations. To compensate for the low speed effects we
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# use a LOW_SPEED_FACTOR in the error. Additionally, there is
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# friction in the steering wheel that needs to be overcome to
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# move it at all, this is compensated for too.
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LOW_SPEED_X = [0, 10, 20, 30]
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LOW_SPEED_Y = [15, 13, 10, 5]
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class LatControlTorque(LatControl):
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def __init__(self, CP, CP_SP, CI):
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super().__init__(CP, CP_SP, CI)
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self.torque_params = CP.lateralTuning.torque.as_builder()
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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(self.torque_params.kp, self.torque_params.ki,
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k_f=self.torque_params.kf)
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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.extension = LatControlTorqueExt(self, CP, CP_SP)
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def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
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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):
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pid_log = log.ControlsState.LateralTorqueState.new_message()
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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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actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
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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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desired_lateral_accel = desired_curvature * CS.vEgo ** 2
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# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
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# desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
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actual_lateral_accel = actual_curvature * CS.vEgo ** 2
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lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
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low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
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setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
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measurement = actual_lateral_accel + low_speed_factor * actual_curvature
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gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
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# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
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pid_log.error = float(setpoint - measurement)
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ff = gravity_adjusted_lateral_accel
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ff += get_friction(desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
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# Lateral acceleration torque controller extension updates
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# Overrides stock ff and pid_log.error
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ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
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desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
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desired_curvature, actual_curvature)
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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,
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feedforward=ff,
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speed=CS.vEgo,
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freeze_integrator=freeze_integrator)
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output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
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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) # TODO: log lat accel?
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pid_log.actualLateralAccel = float(actual_lateral_accel)
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pid_log.desiredLateralAccel = float(desired_lateral_accel)
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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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# TODO left is positive in this convention
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return -output_torque, 0.0, pid_log
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