You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
135 lines
5.2 KiB
135 lines
5.2 KiB
from cereal import log
|
|
from common.numpy_fast import clip, interp
|
|
from selfdrive.controls.lib.pid import PIController
|
|
from selfdrive.controls.lib.drive_helpers import CONTROL_N
|
|
from selfdrive.modeld.constants import T_IDXS
|
|
|
|
LongCtrlState = log.ControlsState.LongControlState
|
|
|
|
ACCEL_MAX = 2.0
|
|
ACCEL_MIN = -4.0
|
|
ACCEL_SCALE = 4.0
|
|
STOPPING_EGO_SPEED = 0.5
|
|
STOPPING_TARGET_SPEED_OFFSET = 0.01
|
|
STARTING_TARGET_SPEED = 0.5
|
|
DECEL_THRESHOLD_TO_PID = 0.8
|
|
|
|
DECEL_STOPPING_TARGET = 2.0 # apply at least this amount of brake to maintain the vehicle stationary
|
|
|
|
RATE = 100.0
|
|
DEFAULT_LONG_LAG = 0.15
|
|
|
|
|
|
# TODO this logic isn't really car independent, does not belong here
|
|
def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
|
|
output_accel, brake_pressed, cruise_standstill, min_speed_can):
|
|
"""Update longitudinal control state machine"""
|
|
stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
|
|
stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
|
|
(v_ego < STOPPING_EGO_SPEED and
|
|
((v_pid < stopping_target_speed and v_target < stopping_target_speed) or
|
|
brake_pressed))
|
|
|
|
starting_condition = v_target > STARTING_TARGET_SPEED and not cruise_standstill
|
|
|
|
if not active:
|
|
long_control_state = LongCtrlState.off
|
|
|
|
else:
|
|
if long_control_state == LongCtrlState.off:
|
|
if active:
|
|
long_control_state = LongCtrlState.pid
|
|
|
|
elif long_control_state == LongCtrlState.pid:
|
|
if stopping_condition:
|
|
long_control_state = LongCtrlState.stopping
|
|
|
|
elif long_control_state == LongCtrlState.stopping:
|
|
if starting_condition:
|
|
long_control_state = LongCtrlState.starting
|
|
|
|
elif long_control_state == LongCtrlState.starting:
|
|
if stopping_condition:
|
|
long_control_state = LongCtrlState.stopping
|
|
elif output_accel >= -DECEL_THRESHOLD_TO_PID:
|
|
long_control_state = LongCtrlState.pid
|
|
|
|
return long_control_state
|
|
|
|
|
|
class LongControl():
|
|
def __init__(self, CP):
|
|
self.long_control_state = LongCtrlState.off # initialized to off
|
|
self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
|
|
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
|
|
rate=RATE,
|
|
sat_limit=0.8)
|
|
self.pid.pos_limit = ACCEL_MAX
|
|
self.pid.neg_limit = ACCEL_MIN
|
|
self.v_pid = 0.0
|
|
self.last_output_accel = 0.0
|
|
|
|
def reset(self, v_pid):
|
|
"""Reset PID controller and change setpoint"""
|
|
self.pid.reset()
|
|
self.v_pid = v_pid
|
|
|
|
def update(self, active, CS, CP, long_plan):
|
|
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
|
|
# Interp control trajectory
|
|
# TODO estimate car specific lag, use .15s for now
|
|
if len(long_plan.speeds) == CONTROL_N:
|
|
v_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.speeds)
|
|
v_target_future = long_plan.speeds[-1]
|
|
a_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.accels)
|
|
else:
|
|
v_target = 0.0
|
|
v_target_future = 0.0
|
|
a_target = 0.0
|
|
|
|
|
|
# Update state machine
|
|
output_accel = self.last_output_accel
|
|
self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,
|
|
v_target_future, self.v_pid, output_accel,
|
|
CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
|
|
|
|
v_ego_pid = max(CS.vEgo, CP.minSpeedCan) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
|
|
|
|
if self.long_control_state == LongCtrlState.off or CS.gasPressed:
|
|
self.reset(v_ego_pid)
|
|
output_accel = 0.
|
|
|
|
# tracking objects and driving
|
|
elif self.long_control_state == LongCtrlState.pid:
|
|
self.v_pid = v_target
|
|
|
|
# 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 CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
|
|
deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
|
|
|
|
output_accel = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot)
|
|
|
|
if prevent_overshoot:
|
|
output_accel = min(output_accel, 0.0)
|
|
|
|
# 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 > -DECEL_STOPPING_TARGET:
|
|
output_accel -= CP.stoppingDecelRate / RATE
|
|
output_accel = clip(output_accel, ACCEL_MIN, ACCEL_MAX)
|
|
|
|
self.reset(CS.vEgo)
|
|
|
|
# Intention is to move again, release brake fast before handing control to PID
|
|
elif self.long_control_state == LongCtrlState.starting:
|
|
if output_accel < -DECEL_THRESHOLD_TO_PID:
|
|
output_accel += CP.startingAccelRate / RATE
|
|
self.reset(CS.vEgo)
|
|
|
|
self.last_output_accel = output_accel
|
|
final_accel = clip(output_accel, ACCEL_MIN, ACCEL_MAX)
|
|
|
|
return final_accel, v_target, a_target
|
|
|