sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Let planner decide stopping state (#25643)

Browse Source 
* Let planner decide stopping

* Refactor stop/start state machine

* Stay stoppe condition

* 1sec from target

* Add starting state

* Add starting state logic

* Undo some changes

* Update ref
old-commit-hash: 210a6163ac
vw-mqb-aeb
HaraldSchafer 3 years ago committed by GitHub
parent db668c9a3a
commit 1c2c840a8a
4 changed files with 56 additions and 41 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      cereal
  2. 2
      selfdrive/car/toyota/tunes.py
  3. 91
      selfdrive/controls/lib/longcontrol.py
  4. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 632395010102aabdd0ed87aba50d25042cdcb70e
Subproject commit 3248f6658f58551ce0de9e3ea712d67896e196fd

2
selfdrive/car/toyota/tunes.py
Unescape View File

@ -38,7 +38,7 @@ def set_long_tune(tune, name):
# Default longitudinal tune
elif name == LongTunes.TSS:
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [0., .15]
tune.deadzoneV = [.0, .15]
tune.kpBP = [0., 5., 35.]
tune.kiBP = [0., 35.]
tune.kpV = [3.6, 2.4, 1.5]

91
selfdrive/controls/lib/longcontrol.py
Unescape View File

@ -11,16 +11,21 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
ACCEL_MIN_ISO = -3.5 # m/s^2
ACCEL_MAX_ISO = 2.0 # m/s^2
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
v_target_future, brake_pressed, cruise_standstill):
"""Update longitudinal control state machine"""
accelerating = v_target_future > v_target
stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
(v_ego < CP.vEgoStopping and
((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed))
starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill
v_target_1sec, brake_pressed, cruise_standstill):
accelerating = v_target_1sec > v_target
planned_stop = (v_target < CP.vEgoStopping and
v_target_1sec < CP.vEgoStopping and
not accelerating)
stay_stopped = (v_ego < CP.vEgoStopping and
(brake_pressed or cruise_standstill))
stopping_condition = planned_stop or stay_stopped
starting_condition = (v_target_1sec > CP.vEgoStarting and
accelerating and
not cruise_standstill and
not brake_pressed)
started_condition = v_ego > CP.vEgoStarting
if not active:
long_control_state = LongCtrlState.off
@ -34,9 +39,21 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
long_control_state = LongCtrlState.stopping
elif long_control_state == LongCtrlState.stopping:
if starting_condition:
if starting_condition and CP.startingState:
long_control_state = LongCtrlState.starting
elif starting_condition:
long_control_state = LongCtrlState.pid
elif long_control_state == LongCtrlState.starting:
if stopping_condition:
long_control_state = LongCtrlState.stopping
elif started_condition:
long_control_state = LongCtrlState.pid
return long_control_state
@ -60,64 +77,62 @@ class LongControl:
# Interp control trajectory
speeds = long_plan.speeds
if len(speeds) == CONTROL_N:
v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target
a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target
a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
v_target = min(v_target_lower, v_target_upper)
a_target = min(a_target_lower, a_target_upper)
v_target_future = speeds[-1]
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
else:
v_target = 0.0
v_target_future = 0.0
v_target_1sec = 0.0
a_target = 0.0
# TODO: This check is not complete and needs to be enforced by MPC
a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
self.pid.neg_limit = accel_limits[0]
self.pid.pos_limit = accel_limits[1]
# Update state machine
output_accel = self.last_output_accel
self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
v_target, v_target_future, CS.brakePressed,
v_target, v_target_1sec, CS.brakePressed,
CS.cruiseState.standstill)
if self.long_control_state == LongCtrlState.off:
self.reset(CS.vEgo)
output_accel = 0.
# tracking objects and driving
elif self.long_control_state == LongCtrlState.stopping:
if output_accel > self.CP.stopAccel:
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
self.reset(CS.vEgo)
elif self.long_control_state == LongCtrlState.starting:
output_accel = self.CP.startAccel
self.reset(CS.vEgo)
elif self.long_control_state == LongCtrlState.pid:
self.v_pid = v_target
self.v_pid = v_target_now
# Toyota starts braking more when it thinks you want to stop
# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
# TODO too complex, needs to be simplified and tested on toyotas
prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
freeze_integrator = prevent_overshoot
error = self.v_pid - CS.vEgo
error_deadzone = apply_deadzone(error, deadzone)
output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, feedforward=a_target, freeze_integrator=freeze_integrator)
if prevent_overshoot:
output_accel = min(output_accel, 0.0)
output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
feedforward=a_target,
freeze_integrator=freeze_integrator)
# Intention is to stop, switch to a different brake control until we stop
elif self.long_control_state == LongCtrlState.stopping:
# Keep applying brakes until the car is stopped
if not CS.standstill or output_accel > self.CP.stopAccel:
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
self.reset(CS.vEgo)
self.last_output_accel = output_accel
final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
return final_accel
return self.last_output_accel

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
915309019fef256512ee30cf92cfae2e479dd04e
209423f468194c77443110078639ff67a8b99073

Write Preview
Loading…
Cancel
Save