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Torque control: low speed boost (#24859)

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* Make very low speed more aggressive

* Less extreme low speed boost

* Update ref
old-commit-hash: a6652a539d
vw-mqb-aeb
HaraldSchafer 3 years ago committed by GitHub
parent 6ce60227f4
commit 5e002bff96
2 changed files with 7 additions and 6 deletions
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  1. 11
      selfdrive/controls/lib/latcontrol_torque.py
  2. 2
      selfdrive/test/process_replay/ref_commit

11
selfdrive/controls/lib/latcontrol_torque.py
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@ -19,8 +19,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
# move it at all, this is compensated for too. # move it at all, this is compensated for too.
LOW_SPEED_FACTOR = 200 FRICTION_THRESHOLD = 0.2
JERK_THRESHOLD = 0.2
def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0): def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
@ -66,14 +65,16 @@ class LatControlTorque(LatControl):
actual_lateral_accel = actual_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature
measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
pid_log.error = error pid_log.error = error
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
# convert friction into lateral accel units for feedforward # convert friction into lateral accel units for feedforward
friction_compensation = interp(error, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction]) friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
ff += friction_compensation / self.kf ff += friction_compensation / self.kf
freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(error, output_torque = self.pid.update(error,

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
fe2da24194e3def1823681cc18e7879f24edfc6e 1d66eed104dbc124c4e5679f5dddf40197b86ce9

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