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123 lines
4.4 KiB
123 lines
4.4 KiB
6 years ago
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import math
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import numpy as np
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from cereal import log
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from common.realtime import DT_CTRL
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from common.numpy_fast import clip
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from selfdrive.car.toyota.values import SteerLimitParams
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from selfdrive.car import apply_toyota_steer_torque_limits
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from selfdrive.controls.lib.drive_helpers import get_steer_max
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class LatControlINDI():
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def __init__(self, CP):
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self.angle_steers_des = 0.
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A = np.matrix([[1.0, DT_CTRL, 0.0],
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[0.0, 1.0, DT_CTRL],
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[0.0, 0.0, 1.0]])
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C = np.matrix([[1.0, 0.0, 0.0],
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[0.0, 1.0, 0.0]])
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# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
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# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
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# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
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# K = np.transpose(K)
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K = np.matrix([[7.30262179e-01, 2.07003658e-04],
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[7.29394177e+00, 1.39159419e-02],
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[1.71022442e+01, 3.38495381e-02]])
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self.K = K
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self.A_K = A - np.dot(K, C)
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self.x = np.matrix([[0.], [0.], [0.]])
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self.enforce_rate_limit = CP.carName == "toyota"
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self.RC = CP.lateralTuning.indi.timeConstant
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self.G = CP.lateralTuning.indi.actuatorEffectiveness
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self.outer_loop_gain = CP.lateralTuning.indi.outerLoopGain
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self.inner_loop_gain = CP.lateralTuning.indi.innerLoopGain
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self.alpha = 1. - DT_CTRL / (self.RC + DT_CTRL)
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self.sat_count_rate = 1.0 * DT_CTRL
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self.sat_limit = CP.steerLimitTimer
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self.reset()
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def reset(self):
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self.delayed_output = 0.
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self.output_steer = 0.
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self.sat_count = 0.0
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def _check_saturation(self, control, check_saturation, limit):
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saturated = abs(control) == limit
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if saturated and check_saturation:
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self.sat_count += self.sat_count_rate
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else:
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self.sat_count -= self.sat_count_rate
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self.sat_count = clip(self.sat_count, 0.0, 1.0)
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return self.sat_count > self.sat_limit
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def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, rate_limited, CP, path_plan):
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# Update Kalman filter
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y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]])
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self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
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indi_log = log.ControlsState.LateralINDIState.new_message()
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indi_log.steerAngle = math.degrees(self.x[0])
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indi_log.steerRate = math.degrees(self.x[1])
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indi_log.steerAccel = math.degrees(self.x[2])
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if v_ego < 0.3 or not active:
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indi_log.active = False
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self.output_steer = 0.0
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self.delayed_output = 0.0
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else:
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self.angle_steers_des = path_plan.angleSteers
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self.rate_steers_des = path_plan.rateSteers
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steers_des = math.radians(self.angle_steers_des)
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rate_des = math.radians(self.rate_steers_des)
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# Expected actuator value
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self.delayed_output = self.delayed_output * self.alpha + self.output_steer * (1. - self.alpha)
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# Compute acceleration error
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rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
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accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
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accel_error = accel_sp - self.x[2]
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# Compute change in actuator
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g_inv = 1. / self.G
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delta_u = g_inv * accel_error
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# Enforce rate limit
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if self.enforce_rate_limit:
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steer_max = float(SteerLimitParams.STEER_MAX)
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new_output_steer_cmd = steer_max * (self.delayed_output + delta_u)
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prev_output_steer_cmd = steer_max * self.output_steer
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new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, SteerLimitParams)
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self.output_steer = new_output_steer_cmd / steer_max
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else:
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self.output_steer = self.delayed_output + delta_u
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steers_max = get_steer_max(CP, v_ego)
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self.output_steer = clip(self.output_steer, -steers_max, steers_max)
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indi_log.active = True
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indi_log.rateSetPoint = float(rate_sp)
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indi_log.accelSetPoint = float(accel_sp)
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indi_log.accelError = float(accel_error)
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indi_log.delayedOutput = float(self.delayed_output)
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indi_log.delta = float(delta_u)
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indi_log.output = float(self.output_steer)
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check_saturation = (v_ego > 10.) and not rate_limited and not steer_override
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indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
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return float(self.output_steer), float(self.angle_steers_des), indi_log
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