[GMC ACADIA DENALI 2018] Move to torque control, non-linear feed-forward (#28923)

* move GMC ACADIA to torque control, with a Bolt-like feedforward

* update offline values

* update offline values

* reduce friction

* update values

* update values

* cleanup

selfdrive/car/gm/interface.py

@@ -19,6 +19,12 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
 
+NON_LINEAR_TORQUE_PARAMS = {
+  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772]
+}
+
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -31,23 +37,14 @@ class CarInterface(CarInterfaceBase):
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
-  @staticmethod
-  def get_steer_feedforward_acadia(desired_angle, v_ego):
-    desired_angle *= 0.09760208
-    sigmoid = desired_angle / (1 + fabs(desired_angle))
-    return 0.04689655 * sigmoid * (v_ego + 10.028217)
-
   def get_steer_feedforward_function(self):
     if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
-    elif self.CP.carFingerprint == CAR.ACADIA:
-      return self.get_steer_feedforward_acadia
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  @staticmethod
-  def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
-                                     lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
+  def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
@@ -57,14 +54,15 @@ class CarInterface(CarInterfaceBase):
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
     # This has big effect on the stability about 0 (noise when going straight)
     # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178]  # weights computed offline
-
+    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
+    assert non_linear_torque_params, "The params are not defined"
+    a, b, c, _ = non_linear_torque_params
     steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
     return float(steer_torque) + friction
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
-      return self.torque_from_lateral_accel_bolt
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
     else:
       return self.torque_from_lateral_accel_linear
 
@@ -169,7 +167,8 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_LACROSSE:
       ret.mass = 1712. + STD_CARGO_KG

selfdrive/car/interfaces.py

@@ -131,8 +131,7 @@ class CarInterfaceBase(ABC):
   def get_steer_feedforward_function(self):
     return self.get_steer_feedforward_default
 
-  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+  def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
                                        lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)

selfdrive/car/torque_data/override.yaml

@@ -49,6 +49,7 @@ KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
 KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
 GENESIS GV80 2023: [2.5, 2.5, 0.1]
 KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
+GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

selfdrive/car/torque_data/params.yaml

@@ -10,7 +10,6 @@ CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
 CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
 CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
 GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
 HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
 HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]