From ad986b39cffc107939f4acf26c61d7c9d8a3b67d Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 21 Jul 2023 11:28:48 -0700 Subject: [PATCH] [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 old-commit-hash: 3612c12b14b90bdc14151194b560a5ff8216b9e0 --- selfdrive/car/gm/interface.py | 31 ++++++++++++------------- selfdrive/car/interfaces.py | 3 +-- selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/torque_data/params.yaml | 1 - 4 files changed, 17 insertions(+), 19 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d348f12722..e17346cfaf 100755 --- a/selfdrive/car/gm/interface.py +++ b/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 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e5d7430878..ec9f4a0f06 100644 --- a/selfdrive/car/interfaces.py +++ b/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) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index bb92c2a75d..62d39171f9 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/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] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index cb423e1d87..800507d91d 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/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]