mirror of https://github.com/1okko/openpilot.git
119 lines
4.3 KiB
C++
119 lines
4.3 KiB
C++
#include <algorithm>
|
|
#include <cmath>
|
|
#include <iostream>
|
|
|
|
#include <capnp/message.h>
|
|
#include <capnp/serialize-packed.h>
|
|
#include "cereal/gen/cpp/log.capnp.h"
|
|
#include "cereal/gen/cpp/car.capnp.h"
|
|
#include "params_learner.h"
|
|
|
|
// #define DEBUG
|
|
|
|
template <typename T>
|
|
T clip(const T& n, const T& lower, const T& upper) {
|
|
return std::max(lower, std::min(n, upper));
|
|
}
|
|
|
|
ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
|
|
double angle_offset,
|
|
double stiffness_factor,
|
|
double steer_ratio,
|
|
double learning_rate) :
|
|
ao(angle_offset * DEGREES_TO_RADIANS),
|
|
slow_ao(angle_offset * DEGREES_TO_RADIANS),
|
|
x(stiffness_factor),
|
|
sR(steer_ratio) {
|
|
|
|
cF0 = car_params.getTireStiffnessFront();
|
|
cR0 = car_params.getTireStiffnessRear();
|
|
|
|
l = car_params.getWheelbase();
|
|
m = car_params.getMass();
|
|
|
|
aF = car_params.getCenterToFront();
|
|
aR = l - aF;
|
|
|
|
min_sr = MIN_SR * car_params.getSteerRatio();
|
|
max_sr = MAX_SR * car_params.getSteerRatio();
|
|
min_sr_th = MIN_SR_TH * car_params.getSteerRatio();
|
|
max_sr_th = MAX_SR_TH * car_params.getSteerRatio();
|
|
alpha1 = 0.01 * learning_rate;
|
|
alpha2 = 0.0005 * learning_rate;
|
|
alpha3 = 0.1 * learning_rate;
|
|
alpha4 = 1.0 * learning_rate;
|
|
}
|
|
|
|
bool ParamsLearner::update(double psi, double u, double sa) {
|
|
if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
|
|
double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
|
|
double new_ao = ao - alpha1 * ao_diff;
|
|
|
|
double slow_ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
|
|
double new_slow_ao = slow_ao - alpha2 * slow_ao_diff;
|
|
|
|
double new_x = x - alpha3 * (-2.0*cF0*cR0*l*m*pow(u, 3)*(slow_ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 3)));
|
|
double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
|
|
|
|
ao = new_ao;
|
|
slow_ao = new_slow_ao;
|
|
x = new_x;
|
|
sR = new_sR;
|
|
}
|
|
|
|
#ifdef DEBUG
|
|
std::cout << "Instant AO: " << (RADIANS_TO_DEGREES * ao) << "\tAverage AO: " << (RADIANS_TO_DEGREES * slow_ao);
|
|
std::cout << "\tStiffness: " << x << "\t sR: " << sR << std::endl;
|
|
#endif
|
|
|
|
ao = clip(ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
|
|
slow_ao = clip(slow_ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
|
|
x = clip(x, MIN_STIFFNESS, MAX_STIFFNESS);
|
|
sR = clip(sR, min_sr, max_sr);
|
|
|
|
bool valid = fabs(slow_ao) < MAX_ANGLE_OFFSET_TH;
|
|
valid = valid && sR > min_sr_th;
|
|
valid = valid && sR < max_sr_th;
|
|
return valid;
|
|
}
|
|
|
|
|
|
extern "C" {
|
|
void *params_learner_init(size_t len, char * params, double angle_offset, double stiffness_factor, double steer_ratio, double learning_rate) {
|
|
|
|
auto amsg = kj::heapArray<capnp::word>((len / sizeof(capnp::word)) + 1);
|
|
memcpy(amsg.begin(), params, len);
|
|
|
|
capnp::FlatArrayMessageReader cmsg(amsg);
|
|
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
|
|
|
|
ParamsLearner * p = new ParamsLearner(car_params, angle_offset, stiffness_factor, steer_ratio, learning_rate);
|
|
return (void*)p;
|
|
}
|
|
|
|
bool params_learner_update(void * params_learner, double psi, double u, double sa) {
|
|
ParamsLearner * p = (ParamsLearner*) params_learner;
|
|
return p->update(psi, u, sa);
|
|
}
|
|
|
|
double params_learner_get_ao(void * params_learner){
|
|
ParamsLearner * p = (ParamsLearner*) params_learner;
|
|
return p->ao;
|
|
}
|
|
|
|
double params_learner_get_x(void * params_learner){
|
|
ParamsLearner * p = (ParamsLearner*) params_learner;
|
|
return p->x;
|
|
}
|
|
|
|
double params_learner_get_slow_ao(void * params_learner){
|
|
ParamsLearner * p = (ParamsLearner*) params_learner;
|
|
return p->slow_ao;
|
|
}
|
|
|
|
double params_learner_get_sR(void * params_learner){
|
|
ParamsLearner * p = (ParamsLearner*) params_learner;
|
|
return p->sR;
|
|
}
|
|
}
|