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123 lines
5.0 KiB
123 lines
5.0 KiB
from cereal import car
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from common.numpy_fast import clip, interp
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from common.realtime import DT_CTRL
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from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
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from selfdrive.controls.lib.pid import PIDController
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from selfdrive.modeld.constants import T_IDXS
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LongCtrlState = car.CarControl.Actuators.LongControlState
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# As per ISO 15622:2018 for all speeds
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ACCEL_MIN_ISO = -3.5 # m/s^2
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ACCEL_MAX_ISO = 2.0 # m/s^2
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def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
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v_target_future, brake_pressed, cruise_standstill):
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"""Update longitudinal control state machine"""
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accelerating = v_target_future > v_target
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stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
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(v_ego < CP.vEgoStopping and
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((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed))
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starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill
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if not active:
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long_control_state = LongCtrlState.off
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else:
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if long_control_state == LongCtrlState.off:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.pid:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif long_control_state == LongCtrlState.stopping:
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if starting_condition:
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long_control_state = LongCtrlState.pid
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return long_control_state
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class LongControl:
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def __init__(self, CP):
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self.CP = CP
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self.long_control_state = LongCtrlState.off # initialized to off
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self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
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(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
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k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
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self.v_pid = 0.0
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self.last_output_accel = 0.0
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def reset(self, v_pid):
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"""Reset PID controller and change setpoint"""
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self.pid.reset()
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self.v_pid = v_pid
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def update(self, active, CS, long_plan, accel_limits, t_since_plan):
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"""Update longitudinal control. This updates the state machine and runs a PID loop"""
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# Interp control trajectory
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speeds = long_plan.speeds
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if len(speeds) == CONTROL_N:
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v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
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a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
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v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
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a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target
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v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
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a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target
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a_target = min(a_target_lower, a_target_upper)
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v_target_future = speeds[-1]
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else:
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v_target = 0.0
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v_target_future = 0.0
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a_target = 0.0
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# TODO: This check is not complete and needs to be enforced by MPC
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a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
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self.pid.neg_limit = accel_limits[0]
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self.pid.pos_limit = accel_limits[1]
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# Update state machine
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output_accel = self.last_output_accel
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self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
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v_target, v_target_future, CS.brakePressed,
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CS.cruiseState.standstill)
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if self.long_control_state == LongCtrlState.off:
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self.reset(CS.vEgo)
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output_accel = 0.
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# tracking objects and driving
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elif self.long_control_state == LongCtrlState.pid:
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self.v_pid = v_target
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# Toyota starts braking more when it thinks you want to stop
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# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
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prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
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deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
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freeze_integrator = prevent_overshoot
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error = self.v_pid - CS.vEgo
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error_deadzone = apply_deadzone(error, deadzone)
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output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, feedforward=a_target, freeze_integrator=freeze_integrator)
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if prevent_overshoot:
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output_accel = min(output_accel, 0.0)
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# Intention is to stop, switch to a different brake control until we stop
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elif self.long_control_state == LongCtrlState.stopping:
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# Keep applying brakes until the car is stopped
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if not CS.standstill or output_accel > self.CP.stopAccel:
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output_accel -= self.CP.stoppingDecelRate * DT_CTRL
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output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
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self.reset(CS.vEgo)
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self.last_output_accel = output_accel
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final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
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return final_accel
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