Torque Refactor (#25822)

* add torque gains refactor

* update refs

* avoid dict, use cereal struct

* bugfix

* no as_builder

* address final comments

selfdrive/car/interfaces.py

@@ -2,24 +2,27 @@ import yaml
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Any, Dict, Optional, Tuple, List
+from typing import Any, Dict, Optional, Tuple, List, Callable
 
 from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
+from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
+TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
 
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
+FRICTION_THRESHOLD = 0.2
 
 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')
@@ -101,6 +104,20 @@ 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, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
+    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
+    friction_interp = interp(
+      apply_deadzone(lateral_accel_error, lateral_accel_deadzone),
+      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
+      [-torque_params.friction, torque_params.friction]
+    )
+    friction = friction_interp if friction_compensation else 0.0
+    return (lateral_accel_value / torque_params.latAccelFactor) + friction
+
+  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
+    return self.torque_from_lateral_accel_linear
+
   # returns a set of default params to avoid repetition in car specific params
   @staticmethod
   def get_std_params(candidate, fingerprint):
@@ -144,11 +161,12 @@ class CarInterfaceBase(ABC):
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.kp = 1.0
-    tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
+    tune.torque.kf = 1.0
-    tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
+    tune.torque.ki = 0.1
     tune.torque.friction = params['FRICTION']
-    tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
+    tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
+    tune.torque.latAccelOffset = 0.0
 
   @abstractmethod
   def _update(self, c: car.CarControl) -> car.CarState:

selfdrive/controls/lib/latcontrol_torque.py

@@ -4,7 +4,6 @@ from cereal import log
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
 from selfdrive.controls.lib.pid import PIDController
-from selfdrive.controls.lib.drive_helpers import apply_deadzone
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
@@ -19,19 +18,20 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 # move it at all, this is compensated for too.
 
 
-FRICTION_THRESHOLD = 0.2
-
-
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
+    self.torque_params = CP.lateralTuning.torque
-                             k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
+    self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
-    self.get_steer_feedforward = CI.get_steer_feedforward_function()
+                             k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
-    self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
+    self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
-    self.friction = CP.lateralTuning.torque.friction
+    self.use_steering_angle = self.torque_params.useSteeringAngle
-    self.kf = CP.lateralTuning.torque.kf
+    self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-    self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
+
+  def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
+    self.torque_params.latAccelFactor = latAccelFactor
+    self.torque_params.latAccelOffset = latAccelOffset
+    self.torque_params.friction = friction
 
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
@@ -55,19 +55,16 @@ class LatControlTorque(LatControl):
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-
       low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       error = setpoint - measurement
-      pid_log.error = error
+      gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
+      pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, lateral_accel_deadzone, friction_compensation=False)
+      ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, error, lateral_accel_deadzone, friction_compensation=True)
 
-      ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
-      # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
-      ff += friction_compensation / self.kf
       freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
-      output_torque = self.pid.update(error,
+      output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
                                       freeze_integrator=freeze_integrator)
@@ -78,9 +75,9 @@ class LatControlTorque(LatControl):
       pid_log.d = self.pid.d
       pid_log.f = self.pid.f
       pid_log.output = -output_torque
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
       pid_log.actualLateralAccel = actual_lateral_accel
       pid_log.desiredLateralAccel = desired_lateral_accel
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a9a25795f5d8202f7f4c137f80ae030e790ff974
+d14f1a61a4bfde810128a6bb703aa543268fa4a9