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150 lines
6.0 KiB
150 lines
6.0 KiB
#!/usr/bin/env python3
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import math
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import numpy as np
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from common.numpy_fast import interp
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import cereal.messaging as messaging
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from cereal import log
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from common.realtime import DT_MDL
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from common.realtime import sec_since_boot
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from selfdrive.modeld.constants import T_IDXS
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.fcw import FCWChecker
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from selfdrive.controls.lib.longcontrol import LongCtrlState
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from selfdrive.controls.lib.lead_mpc import LeadMpc
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from selfdrive.controls.lib.long_mpc import LongitudinalMpc
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from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
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from selfdrive.swaglog import cloudlog
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LON_MPC_STEP = 0.2 # first step is 0.2s
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AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
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A_CRUISE_MIN = -1.2
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A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
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A_CRUISE_MAX_BP = [0., 15., 25., 40.]
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# Lookup table for turns
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_A_TOTAL_MAX_V = [1.7, 3.2]
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_A_TOTAL_MAX_BP = [20., 40.]
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def get_max_accel(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
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def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
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"""
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This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
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this should avoid accelerating when losing the target in turns
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"""
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a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
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a_y = v_ego**2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
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a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
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return [a_target[0], min(a_target[1], a_x_allowed)]
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class Planner():
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def __init__(self, CP):
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self.CP = CP
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self.mpcs = {}
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self.mpcs['lead0'] = LeadMpc(0)
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self.mpcs['lead1'] = LeadMpc(1)
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self.mpcs['cruise'] = LongitudinalMpc()
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self.fcw = False
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self.fcw_checker = FCWChecker()
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self.v_desired = 0.0
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self.a_desired = 0.0
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self.longitudinalPlanSource = 'cruise'
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self.alpha = np.exp(-DT_MDL/2.0)
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self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
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self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
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self.v_desired_trajectory = np.zeros(CONTROL_N)
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self.a_desired_trajectory = np.zeros(CONTROL_N)
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def update(self, sm, CP):
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cur_time = sec_since_boot()
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v_ego = sm['carState'].vEgo
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a_ego = sm['carState'].aEgo
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v_cruise_kph = sm['controlsState'].vCruise
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v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
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v_cruise = v_cruise_kph * CV.KPH_TO_MS
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long_control_state = sm['controlsState'].longControlState
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force_slow_decel = sm['controlsState'].forceDecel
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self.lead_0 = sm['radarState'].leadOne
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self.lead_1 = sm['radarState'].leadTwo
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enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
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if not enabled or sm['carState'].gasPressed:
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self.v_desired = v_ego
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self.a_desired = a_ego
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# Prevent divergence, smooth in current v_ego
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self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
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self.v_desired = max(0.0, self.v_desired)
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accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
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accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
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if force_slow_decel:
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# if required so, force a smooth deceleration
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accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
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accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
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# clip limits, cannot init MPC outside of bounds
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accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired)
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accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired)
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self.mpcs['cruise'].set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
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next_a = np.inf
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for key in self.mpcs:
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self.mpcs[key].set_cur_state(self.v_desired, self.a_desired)
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self.mpcs[key].update(sm['carState'], sm['radarState'], v_cruise)
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if self.mpcs[key].status and self.mpcs[key].a_solution[5] < next_a:
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self.longitudinalPlanSource = key
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self.v_desired_trajectory = self.mpcs[key].v_solution[:CONTROL_N]
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self.a_desired_trajectory = self.mpcs[key].a_solution[:CONTROL_N]
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self.j_desired_trajectory = self.mpcs[key].j_solution[:CONTROL_N]
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next_a = self.mpcs[key].a_solution[5]
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# determine fcw
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if self.mpcs['lead0'].new_lead:
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self.fcw_checker.reset_lead(cur_time)
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blinkers = sm['carState'].leftBlinker or sm['carState'].rightBlinker
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self.fcw = self.fcw_checker.update(self.mpcs['lead0'].mpc_solution, cur_time,
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sm['controlsState'].active,
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v_ego, sm['carState'].aEgo,
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self.lead_1.dRel, self.lead_1.vLead, self.lead_1.aLeadK,
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self.lead_1.yRel, self.lead_1.vLat,
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self.lead_1.fcw, blinkers) and not sm['carState'].brakePressed
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if self.fcw:
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cloudlog.info("FCW triggered %s", self.fcw_checker.counters)
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# Interpolate 0.05 seconds and save as starting point for next iteration
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a_prev = self.a_desired
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self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
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self.v_desired = self.v_desired + DT_MDL * (self.a_desired + a_prev)/2.0
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def publish(self, sm, pm):
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plan_send = messaging.new_message('longitudinalPlan')
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plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState'])
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longitudinalPlan = plan_send.longitudinalPlan
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longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
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longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
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longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
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longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
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longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
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longitudinalPlan.hasLead = self.mpcs['lead0'].status
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longitudinalPlan.longitudinalPlanSource = self.longitudinalPlanSource
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longitudinalPlan.fcw = self.fcw
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pm.send('longitudinalPlan', plan_send)
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