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48 lines
2.1 KiB
48 lines
2.1 KiB
from selfdrive.controls.lib.pid import PIController
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from common.numpy_fast import interp
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from cereal import car
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_DT = 0.01 # 100Hz
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_DT_MPC = 0.05 # 20Hz
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def get_steer_max(CP, v_ego):
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return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
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class LatControl(object):
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def __init__(self, CP):
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self.pid = PIController((CP.steerKpBP, CP.steerKpV),
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(CP.steerKiBP, CP.steerKiV),
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k_f=CP.steerKf, pos_limit=1.0)
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self.last_cloudlog_t = 0.0
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self.angle_steers_des = 0.
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def reset(self):
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self.pid.reset()
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def update(self, active, v_ego, angle_steers, steer_override, CP, VM, path_plan):
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if v_ego < 0.3 or not active:
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output_steer = 0.0
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self.pid.reset()
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else:
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# TODO: ideally we should interp, but for tuning reasons we keep the mpc solution
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# constant for 0.05s.
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#dt = min(cur_time - self.angle_steers_des_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps
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#self.angle_steers_des = self.angle_steers_des_prev + (dt / _DT_MPC) * (self.angle_steers_des_mpc - self.angle_steers_des_prev)
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self.angle_steers_des = path_plan.angleSteers # get from MPC/PathPlanner
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steers_max = get_steer_max(CP, v_ego)
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self.pid.pos_limit = steers_max
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self.pid.neg_limit = -steers_max
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steer_feedforward = self.angle_steers_des # feedforward desired angle
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if CP.steerControlType == car.CarParams.SteerControlType.torque:
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# TODO: feedforward something based on path_plan.rateSteers
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steer_feedforward -= path_plan.angleOffset # subtract the offset, since it does not contribute to resistive torque
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steer_feedforward *= v_ego**2 # proportional to realigning tire momentum (~ lateral accel)
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deadzone = 0.0
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output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override,
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feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone)
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self.sat_flag = self.pid.saturated
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return output_steer, float(self.angle_steers_des)
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