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74 lines
2.4 KiB
74 lines
2.4 KiB
5 years ago
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from common.numpy_fast import clip, interp
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from selfdrive.car.nissan import nissancan
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from opendbc.can.packer import CANPacker
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# Steer angle limits
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ANGLE_MAX_BP = [1.3, 10., 30.]
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ANGLE_MAX_V = [540., 120., 23.]
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ANGLE_DELTA_BP = [0., 5., 15.]
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ANGLE_DELTA_V = [5., .8, .15] # windup limit
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
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LKAS_MAX_TORQUE = 100 # A value of 100 is easy to overpower
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.car_fingerprint = CP.carFingerprint
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self.lkas_max_torque = 0
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self.last_angle = 0
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self.packer = CANPacker(dbc_name)
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def update(self, enabled, CS, frame, actuators, cruise_cancel):
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""" Controls thread """
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# Send CAN commands.
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can_sends = []
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### STEER ###
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acc_active = bool(CS.out.cruiseState.enabled)
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cruise_throttle_msg = CS.cruise_throttle_msg
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apply_angle = actuators.steerAngle
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if enabled:
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# # windup slower
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if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
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angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
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else:
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angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
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apply_angle = clip(apply_angle, self.last_angle -
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angle_rate_lim, self.last_angle + angle_rate_lim)
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# steer angle
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angle_lim = interp(CS.out.vEgo, ANGLE_MAX_BP, ANGLE_MAX_V)
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apply_angle = clip(apply_angle, -angle_lim, angle_lim)
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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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self.lkas_max_torque = LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel
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self.lkas_max_torque = max(
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0, LKAS_MAX_TORQUE - 0.4 * abs(CS.out.steeringTorque))
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else:
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apply_angle = CS.out.steeringAngle
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self.lkas_max_torque = 0
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self.last_angle = apply_angle
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if not enabled and acc_active:
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# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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cruise_cancel = 1
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if cruise_cancel:
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can_sends.append(nissancan.create_acc_cancel_cmd(
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self.packer, cruise_throttle_msg, frame))
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can_sends.append(nissancan.create_steering_control(
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self.packer, self.car_fingerprint, apply_angle, frame, acc_active, self.lkas_max_torque))
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return can_sends
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