sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Improved steering accuracy measurement script (#23583)

Browse Source 
* move steering accuracy measurement script

* git rebase is utterly worthless

* fix header width
pull/24505/head
Jason Young 3 years ago committed by GitHub
parent d2eef1955c
commit c007c7e681
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 131 additions and 81 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 81
      selfdrive/debug/internal/measure_steering_accuracy.py
  2. 131
      tools/tuning/measure_steering_accuracy.py

81
selfdrive/debug/internal/measure_steering_accuracy.py
Unescape View File

@ -1,81 +0,0 @@
#!/usr/bin/env python3
# type: ignore
import os
import argparse
import signal
from collections import defaultdict
import cereal.messaging as messaging
def sigint_handler(signal, frame):
print("handler!")
exit(0)
signal.signal(signal.SIGINT, sigint_handler)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Sniff a communication socket')
parser.add_argument('--addr', default='127.0.0.1')
args = parser.parse_args()
if args.addr != "127.0.0.1":
os.environ["ZMQ"] = "1"
messaging.context = messaging.Context()
carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
sm = messaging.SubMaster(['carState', 'carControl', 'controlsState'], addr=args.addr)
msg_cnt = 0
stats = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0})
cnt = 0
total_error = 0
while messaging.recv_one(carControl):
sm.update()
msg_cnt += 1
actual_speed = sm['carState'].vEgo
enabled = sm['controlsState'].enabled
steer_override = sm['controlsState'].steerOverride
# must be above 10 m/s, engaged and not overriding steering
if actual_speed > 10.0 and enabled and not steer_override:
cnt += 1
# wait 5 seconds after engage/override
if cnt >= 500:
# calculate error before rounding
actual_angle = sm['controlsState'].angleSteers
desired_angle = sm['carControl'].actuators.steeringAngleDeg
angle_error = abs(desired_angle - actual_angle)
# round numbers
actual_angle = round(actual_angle, 1)
desired_angle = round(desired_angle, 1)
angle_error = round(angle_error, 2)
angle_abs = int(abs(round(desired_angle, 0)))
# collect stats
stats[angle_abs]["err"] += angle_error
stats[angle_abs]["cnt"] += 1
if actual_angle == desired_angle:
stats[angle_abs]["="] += 1
else:
if desired_angle == 0.:
overshoot = True
else:
overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
stats[angle_abs]["+" if overshoot else "-"] += 1
else:
cnt = 0
if msg_cnt % 100 == 0:
print(chr(27) + "[2J")
if cnt != 0:
print("COLLECTING ...")
else:
print("DISABLED (speed too low, not engaged, or steer override)")
for k in sorted(stats.keys()):
v = stats[k]
print(f'angle: {k:#2} | error: {round(v["err"] / v["cnt"], 2):2.2f} | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#4}% | -:{int(v["-"] / v["cnt"] * 100):#3}% | count: {v["cnt"]:#4}')

131
tools/tuning/measure_steering_accuracy.py
Unescape View File

@ -0,0 +1,131 @@
#!/usr/bin/env python3
# type: ignore
import os
import time
import argparse
import signal
from collections import defaultdict
import cereal.messaging as messaging
def sigint_handler(signal, frame):
print("handler!")
exit(0)
signal.signal(signal.SIGINT, sigint_handler)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Sniff a communication socket')
parser.add_argument('control_type', help="[pid|indi|lqr|angle]")
parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq")
parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all")
args = parser.parse_args()
if args.addr != "127.0.0.1":
os.environ["ZMQ"] = "1"
messaging.context = messaging.Context()
all_groups = {"germany": (45, "45 - up m/s // 162 - up km/h // 101 - up mph"),
"veryfast": (35, "35 - 45 m/s // 126 - 162 km/h // 78 - 101 mph"),
"fast": (25, "25 - 35 m/s // 90 - 126 km/h // 56 - 78 mph"),
"medium": (15, "15 - 25 m/s // 54 - 90 km/h // 34 - 56 mph"),
"slow": (5, " 5 - 15 m/s // 18 - 54 km/h // 11 - 34 mph"),
"crawl": (0, " 0 - 5 m/s // 0 - 18 km/h // 0 - 11 mph")}
if args.group == "all":
display_groups = all_groups.keys()
elif args.group in all_groups.keys():
display_groups = [args.group]
else:
raise ValueError("invalid speed group, see help")
speed_group_stats = {}
for group in all_groups:
speed_group_stats[group] = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0, "steer": 0, "limited": 0, "saturated": 0, "dpp": 0})
carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr)
time.sleep(1) # Make sure all submaster data is available before going further
msg_cnt = 0
cnt = 0
total_error = 0
while messaging.recv_one(carControl):
sm.update()
msg_cnt += 1
if args.control_type == "pid":
control_state = sm['controlsState'].lateralControlState.pidState
elif args.control_type == "indi":
control_state = sm['controlsState'].lateralControlState.indiState
elif args.control_type == "lqr":
control_state = sm['controlsState'].lateralControlState.lqrState
elif args.control_type == "angle":
control_state = sm['controlsState'].lateralControlState.angleState
else:
raise ValueError("invalid lateral control type, see help")
v_ego = sm['carState'].vEgo
active = sm['controlsState'].active
steer = sm['carControl'].actuatorsOutput.steer
standstill = sm['carState'].standstill
steer_limited = sm['carState'].steeringRateLimited
overriding = sm['carState'].steeringPressed
changing_lanes = sm['lateralPlan'].laneChangeState != 0
d_path_points = sm['lateralPlan'].dPathPoints
# must be engaged, not at standstill, not overriding steering, and not changing lanes
if active and not standstill and not overriding and not changing_lanes:
cnt += 1
# wait 5 seconds after engage / standstill / override / lane change
if cnt >= 500:
actual_angle = control_state.steeringAngleDeg
desired_angle = control_state.steeringAngleDesiredDeg
# calculate error before rounding, then round for stats grouping
angle_error = abs(desired_angle - actual_angle)
actual_angle = round(actual_angle, 1)
desired_angle = round(desired_angle, 1)
angle_error = round(angle_error, 2)
angle_abs = int(abs(round(desired_angle, 0)))
for group, group_props in all_groups.items():
if v_ego > group_props[0]:
# collect stats
speed_group_stats[group][angle_abs]["cnt"] += 1
speed_group_stats[group][angle_abs]["err"] += angle_error
speed_group_stats[group][angle_abs]["steer"] += abs(steer)
if len(d_path_points):
speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0])
if steer_limited:
speed_group_stats[group][angle_abs]["limited"] += 1
if control_state.saturated:
speed_group_stats[group][angle_abs]["saturated"] += 1
if actual_angle == desired_angle:
speed_group_stats[group][angle_abs]["="] += 1
else:
if desired_angle == 0.:
overshoot = True
else:
overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
speed_group_stats[group][angle_abs]["+" if overshoot else "-"] += 1
break
else:
cnt = 0
if msg_cnt % 100 == 0:
print(chr(27) + "[2J")
if cnt != 0:
print("COLLECTING ...\n")
else:
print("DISABLED (not active, standstill, steering override, or lane change)\n")
for group in display_groups:
if len(speed_group_stats[group]) > 0:
print(f"speed group: {group:10s} {all_groups[group][1]:>96s}")
print(f" {'-'*118}")
for k in sorted(speed_group_stats[group].keys()):
v = speed_group_stats[group][k]
print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
print("")
Write Preview
Loading…
Cancel
Save