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Update disturbance_controller.py

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infiniteCable
2025-04-10 23:00:58 +02:00
committed by GitHub
parent 1152450921
commit c4a23447da
1 changed files with 3 additions and 2 deletions
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5
selfdrive/controls/lib/disturbance_controller.py
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@@ -50,9 +50,10 @@ class DisturbanceController:
return desired_curvature
steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.)
actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, params.roll)
actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x,
calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset, 0.)
calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset,
params.roll)
actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof])
alpha = self.compute_dynamic_alpha(desired_curvature)