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cleanup torque tuning config (#24951)

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pull/24958/head^2
Adeeb Shihadeh 3 years ago committed by GitHub
parent e26db5dc91
commit 062a8bcdbd
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5 changed files with 45 additions and 50 deletions
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  1. 12
      selfdrive/car/hyundai/interface.py
  2. 59
      selfdrive/car/interfaces.py
  3. 8
      selfdrive/car/toyota/interface.py
  4. 6
      selfdrive/car/toyota/tunes.py
  5. 10
      selfdrive/controls/lib/latcontrol_torque.py

12
selfdrive/car/hyundai/interface.py
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@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase):
ret.stopAccel = 0.0 ret.stopAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s ret.longitudinalActuatorDelayUpperBound = 1.0 # s
torque_params = CarInterfaceBase.get_torque_params(candidate)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@ -66,7 +64,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.84 ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SONATA_LF: elif candidate == CAR.SONATA_LF:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG ret.mass = 4497. * CV.LB_TO_KG
@ -96,13 +94,13 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.72 ret.wheelbase = 2.72
ret.steerRatio = 12.9 ret.steerRatio = 12.9
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ELANTRA_HEV_2021: elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72 ret.wheelbase = 2.72
ret.steerRatio = 12.9 ret.steerRatio = 12.9
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.HYUNDAI_GENESIS: elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG ret.mass = 2060. + STD_CARGO_KG
@ -204,7 +202,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.80 ret.wheelbase = 2.80
ret.steerRatio = 13.75 ret.steerRatio = 13.75
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.KIA_STINGER: elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG ret.mass = 1825. + STD_CARGO_KG
@ -244,7 +242,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
tire_stiffness_factor = 0.65 tire_stiffness_factor = 0.65
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Genesis # Genesis
elif candidate == CAR.GENESIS_G70: elif candidate == CAR.GENESIS_G70:

59
selfdrive/car/interfaces.py
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@ -20,11 +20,36 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0 ACCEL_MAX = 2.0
ACCEL_MIN = -3.5 ACCEL_MIN = -3.5
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
def get_torque_params(candidate, default=float('NaN')):
with open(TORQUE_SUBSTITUTE_PATH) as f:
sub = yaml.load(f, Loader=yaml.FullLoader)
if candidate in sub:
candidate = sub[candidate]
with open(TORQUE_PARAMS_PATH) as f:
params = yaml.load(f, Loader=yaml.FullLoader)
with open(TORQUE_OVERRIDE_PATH) as f:
override = yaml.load(f, Loader=yaml.FullLoader)
# Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
if candidate in override:
out = override[candidate]
elif candidate in params:
out = params[candidate]
else:
raise NotImplementedError(f"Did not find torque params for {candidate}")
return {key:out[i] for i, key in enumerate(params['legend'])}
# generic car and radar interfaces # generic car and radar interfaces
class CarInterfaceBase(ABC): class CarInterfaceBase(ABC):
@ -85,7 +110,7 @@ class CarInterfaceBase(ABC):
ret.steerControlType = car.CarParams.SteerControlType.torque ret.steerControlType = car.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0. ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0 ret.wheelSpeedFactor = 1.0
ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
@ -110,28 +135,16 @@ class CarInterfaceBase(ABC):
return ret return ret
@staticmethod @staticmethod
def get_torque_params(candidate, default=float('NaN')): def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
with open(TORQUE_SUBSTITUTE_PATH) as f: params = get_torque_params(candidate)
sub = yaml.load(f, Loader=yaml.FullLoader)
if candidate in sub: tune.init('torque')
candidate = sub[candidate] tune.torque.useSteeringAngle = True
tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
with open(TORQUE_PARAMS_PATH) as f: tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
params = yaml.load(f, Loader=yaml.FullLoader) tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
with open(TORQUE_OVERRIDE_PATH) as f: tune.torque.friction = params['FRICTION']
override = yaml.load(f, Loader=yaml.FullLoader) tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
# Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
if candidate in override:
out = override[candidate]
elif candidate in params:
out = params[candidate]
else:
raise NotImplementedError(f"Did not find torque params for {candidate}")
return {key:out[i] for i, key in enumerate(params['legend'])}
@abstractmethod @abstractmethod
def _update(self, c: car.CarControl) -> car.CarState: def _update(self, c: car.CarControl) -> car.CarState:

8
selfdrive/car/toyota/interface.py
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@ -2,7 +2,6 @@
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from panda import Panda from panda import Panda
from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@ -32,9 +31,8 @@ class CarInterface(CarInterfaceBase):
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False stop_and_go = False
torque_params = CarInterfaceBase.get_torque_params(candidate)
steering_angle_deadzone_deg = 0.0 steering_angle_deadzone_deg = 0.0
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
if candidate == CAR.PRIUS: if candidate == CAR.PRIUS:
stop_and_go = True stop_and_go = True
@ -46,7 +44,7 @@ class CarInterface(CarInterfaceBase):
for fw in car_fw: for fw in car_fw:
if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
steering_angle_deadzone_deg = 1.0 steering_angle_deadzone_deg = 1.0
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate == CAR.PRIUS_V: elif candidate == CAR.PRIUS_V:
stop_and_go = True stop_and_go = True
@ -54,7 +52,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4 ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533 tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
elif candidate in (CAR.RAV4, CAR.RAV4H): elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False stop_and_go = True if (candidate in CAR.RAV4H) else False

6
selfdrive/car/toyota/tunes.py
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@ -1,6 +1,5 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from enum import Enum from enum import Enum
from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
class LongTunes(Enum): class LongTunes(Enum):
PEDAL = 0 PEDAL = 0
@ -24,7 +23,6 @@ class LatTunes(Enum):
PID_L = 13 PID_L = 13
PID_M = 14 PID_M = 14
PID_N = 15 PID_N = 15
TORQUE = 16
###### LONG ###### ###### LONG ######
@ -51,9 +49,7 @@ def set_long_tune(tune, name):
###### LAT ###### ###### LAT ######
def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
if name == LatTunes.TORQUE: if 'PID' in str(name):
set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg)
elif 'PID' in str(name):
tune.init('pid') tune.init('pid')
tune.pid.kiBP = [0.0] tune.pid.kiBP = [0.0]
tune.pid.kpBP = [0.0] tune.pid.kpBP = [0.0]

10
selfdrive/controls/lib/latcontrol_torque.py
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@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
FRICTION_THRESHOLD = 0.2 FRICTION_THRESHOLD = 0.2
def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0):
tune.init('torque')
tune.torque.useSteeringAngle = True
tune.torque.kp = 1.0 / MAX_LAT_ACCEL
tune.torque.kf = 1.0 / MAX_LAT_ACCEL
tune.torque.ki = 0.1 / MAX_LAT_ACCEL
tune.torque.friction = FRICTION
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
class LatControlTorque(LatControl): class LatControlTorque(LatControl):
def __init__(self, CP, CI): def __init__(self, CP, CI):
super().__init__(CP, CI) super().__init__(CP, CI)

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