CarParams: remove max steer (#24044)

* Remove max steer

* Update ref

cereal

@@ -1 +1 @@
-Subproject commit e94649e0ed1f70fe5c74c3700a9330b878606101
+Subproject commit 0b635b4804c963c2e69475788acfeeb17820f8c2

selfdrive/car/interfaces.py

@@ -75,8 +75,6 @@ class CarInterfaceBase(ABC):
 
     # standard ALC params
     ret.steerControlType = car.CarParams.SteerControlType.torque
-    ret.steerMaxBP = [0.]
-    ret.steerMaxV = [1.]
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
 

selfdrive/controls/lib/drive_helpers.py

@@ -40,10 +40,6 @@ def rate_limit(new_value, last_value, dw_step, up_step):
   return clip(new_value, last_value + dw_step, last_value + up_step)
 
 
-def get_steer_max(CP, v_ego):
-  return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
-
-
 def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
   # handle button presses. TODO: this should be in state_control, but a decelCruise press
   # would have the effect of both enabling and changing speed is checked after the state transition

selfdrive/controls/lib/latcontrol.py

@@ -12,6 +12,9 @@ class LatControl(ABC):
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.
 
+    # we define the steer torque scale as [-1.0...1.0]
+    self.steer_max = 1.0
+
   @abstractmethod
   def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
     pass

selfdrive/controls/lib/latcontrol_indi.py

@@ -5,7 +5,6 @@ from cereal import log
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import clip, interp
 from common.realtime import DT_CTRL
-from selfdrive.controls.lib.drive_helpers import get_steer_max
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 
 
@@ -41,7 +40,6 @@ class LatControlINDI(LatControl):
     self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
 
     self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
-
     self.reset()
 
   @property
@@ -107,8 +105,7 @@ class LatControlINDI(LatControl):
 
       output_steer = self.steer_filter.x + delta_u
 
-      steers_max = get_steer_max(CP, CS.vEgo)
-      output_steer = clip(output_steer, -steers_max, steers_max)
+      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
 
       indi_log.active = True
       indi_log.rateSetPoint = float(rate_sp)
@@ -117,6 +114,6 @@ class LatControlINDI(LatControl):
       indi_log.delayedOutput = float(self.steer_filter.x)
       indi_log.delta = float(delta_u)
       indi_log.output = float(output_steer)
-      indi_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
+      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
 
     return float(output_steer), float(steers_des), indi_log

selfdrive/controls/lib/latcontrol_lqr.py

@@ -4,7 +4,6 @@ import numpy as np
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from cereal import log
-from selfdrive.controls.lib.drive_helpers import get_steer_max
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 
 
@@ -34,7 +33,6 @@ class LatControlLQR(LatControl):
   def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
-    steers_max = get_steer_max(CP, CS.vEgo)
     torque_scale = (0.45 + CS.vEgo / 60.0)**2  # Scale actuator model with speed
 
     # Subtract offset. Zero angle should correspond to zero torque
@@ -71,16 +69,16 @@ class LatControlLQR(LatControl):
         i = self.i_lqr + self.ki * self.i_rate * error
         control = lqr_output + i
 
-        if (error >= 0 and (control <= steers_max or i < 0.0)) or \
-           (error <= 0 and (control >= -steers_max or i > 0.0)):
+        if (error >= 0 and (control <= self.steer_max or i < 0.0)) or \
+           (error <= 0 and (control >= -self.steer_max or i > 0.0)):
           self.i_lqr = i
 
       output_steer = lqr_output + self.i_lqr
-      output_steer = clip(output_steer, -steers_max, steers_max)
+      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
 
     lqr_log.steeringAngleDeg = angle_steers_k
     lqr_log.i = self.i_lqr
     lqr_log.output = output_steer
     lqr_log.lqrOutput = lqr_output
-    lqr_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
+    lqr_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
     return output_steer, desired_angle, lqr_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,7 +1,6 @@
 import math
 
 from selfdrive.controls.lib.pid import PIController
-from selfdrive.controls.lib.drive_helpers import get_steer_max
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from cereal import log
 
@@ -33,9 +32,8 @@ class LatControlPID(LatControl):
       pid_log.active = False
       self.pid.reset()
     else:
-      steers_max = get_steer_max(CP, CS.vEgo)
-      self.pid.pos_limit = steers_max
-      self.pid.neg_limit = -steers_max
+      self.pid.pos_limit = self.steer_max
+      self.pid.neg_limit = -self.steer_max
 
       # offset does not contribute to resistive torque
       steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
@@ -49,6 +47,6 @@ class LatControlPID(LatControl):
       pid_log.i = self.pid.i
       pid_log.f = self.pid.f
       pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
 
     return output_steer, angle_steers_des, pid_log

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5bf6cd4a8d3c96eb333ae58d81af3907ac8b2804
+81ec7708ef7582ab950f9af4810d403fce292eb1