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.
149 lines
5.3 KiB
149 lines
5.3 KiB
import math
|
|
import numpy as np
|
|
|
|
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.car import apply_toyota_steer_torque_limits
|
|
from selfdrive.car.toyota.values import CarControllerParams
|
|
from selfdrive.controls.lib.drive_helpers import get_steer_max
|
|
|
|
|
|
class LatControlINDI():
|
|
def __init__(self, CP):
|
|
self.angle_steers_des = 0.
|
|
|
|
A = np.array([[1.0, DT_CTRL, 0.0],
|
|
[0.0, 1.0, DT_CTRL],
|
|
[0.0, 0.0, 1.0]])
|
|
C = np.array([[1.0, 0.0, 0.0],
|
|
[0.0, 1.0, 0.0]])
|
|
|
|
# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
|
|
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
|
|
|
|
# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
|
|
# K = np.transpose(K)
|
|
K = np.array([[7.30262179e-01, 2.07003658e-04],
|
|
[7.29394177e+00, 1.39159419e-02],
|
|
[1.71022442e+01, 3.38495381e-02]])
|
|
|
|
self.speed = 0.
|
|
|
|
self.K = K
|
|
self.A_K = A - np.dot(K, C)
|
|
self.x = np.array([[0.], [0.], [0.]])
|
|
|
|
self.enforce_rate_limit = CP.carName == "toyota"
|
|
|
|
self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
|
|
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
|
|
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
|
|
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
|
|
|
|
self.sat_count_rate = 1.0 * DT_CTRL
|
|
self.sat_limit = CP.steerLimitTimer
|
|
self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
|
|
|
|
self.reset()
|
|
|
|
@property
|
|
def RC(self):
|
|
return interp(self.speed, self._RC[0], self._RC[1])
|
|
|
|
@property
|
|
def G(self):
|
|
return interp(self.speed, self._G[0], self._G[1])
|
|
|
|
@property
|
|
def outer_loop_gain(self):
|
|
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
|
|
|
|
@property
|
|
def inner_loop_gain(self):
|
|
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
|
|
|
|
def reset(self):
|
|
self.steer_filter.x = 0.
|
|
self.output_steer = 0.
|
|
self.sat_count = 0.
|
|
self.speed = 0.
|
|
|
|
def _check_saturation(self, control, check_saturation, limit):
|
|
saturated = abs(control) == limit
|
|
|
|
if saturated and check_saturation:
|
|
self.sat_count += self.sat_count_rate
|
|
else:
|
|
self.sat_count -= self.sat_count_rate
|
|
|
|
self.sat_count = clip(self.sat_count, 0.0, 1.0)
|
|
|
|
return self.sat_count > self.sat_limit
|
|
|
|
def update(self, active, CS, CP, VM, params, curvature, curvature_rate):
|
|
self.speed = CS.vEgo
|
|
# Update Kalman filter
|
|
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
|
|
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
|
|
|
|
indi_log = log.ControlsState.LateralINDIState.new_message()
|
|
indi_log.steeringAngleDeg = math.degrees(self.x[0])
|
|
indi_log.steeringRateDeg = math.degrees(self.x[1])
|
|
indi_log.steeringAccelDeg = math.degrees(self.x[2])
|
|
|
|
steers_des = VM.get_steer_from_curvature(-curvature, CS.vEgo)
|
|
steers_des += math.radians(params.angleOffsetDeg)
|
|
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des)
|
|
|
|
rate_des = VM.get_steer_from_curvature(-curvature_rate, CS.vEgo)
|
|
indi_log.steeringRateDesiredDeg = math.degrees(rate_des)
|
|
|
|
if CS.vEgo < 0.3 or not active:
|
|
indi_log.active = False
|
|
self.output_steer = 0.0
|
|
self.steer_filter.x = 0.0
|
|
else:
|
|
# Expected actuator value
|
|
self.steer_filter.update_alpha(self.RC)
|
|
self.steer_filter.update(self.output_steer)
|
|
|
|
# Compute acceleration error
|
|
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
|
|
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
|
|
accel_error = accel_sp - self.x[2]
|
|
|
|
# Compute change in actuator
|
|
g_inv = 1. / self.G
|
|
delta_u = g_inv * accel_error
|
|
|
|
# If steering pressed, only allow wind down
|
|
if CS.steeringPressed and (delta_u * self.output_steer > 0):
|
|
delta_u = 0
|
|
|
|
# Enforce rate limit
|
|
if self.enforce_rate_limit:
|
|
steer_max = float(CarControllerParams.STEER_MAX)
|
|
new_output_steer_cmd = steer_max * (self.steer_filter.x + delta_u)
|
|
prev_output_steer_cmd = steer_max * self.output_steer
|
|
new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, CarControllerParams)
|
|
self.output_steer = new_output_steer_cmd / steer_max
|
|
else:
|
|
self.output_steer = self.steer_filter.x + delta_u
|
|
|
|
steers_max = get_steer_max(CP, CS.vEgo)
|
|
self.output_steer = clip(self.output_steer, -steers_max, steers_max)
|
|
|
|
indi_log.active = True
|
|
indi_log.rateSetPoint = float(rate_sp)
|
|
indi_log.accelSetPoint = float(accel_sp)
|
|
indi_log.accelError = float(accel_error)
|
|
indi_log.delayedOutput = float(self.steer_filter.x)
|
|
indi_log.delta = float(delta_u)
|
|
indi_log.output = float(self.output_steer)
|
|
|
|
check_saturation = (CS.vEgo > 10.) and not CS.steeringRateLimited and not CS.steeringPressed
|
|
indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
|
|
|
|
return float(self.output_steer), float(steers_des), indi_log
|
|
|