cleanup old nidec accel override logic (#22181)

* cleanup old nidec accel override logic

* add ref without deprecated fields

* no more override
old-commit-hash: 74b6c87254

selfdrive/car/honda/carcontroller.py

@@ -107,8 +107,7 @@ class CarController():
 
     self.params = CarControllerParams(CP)
 
-  def update(self, enabled, CS, frame, actuators,
-             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
@@ -228,6 +227,8 @@ class CarController():
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
           pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+
+          pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
             pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake

selfdrive/car/honda/carstate.py

@@ -10,18 +10,6 @@ from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR,
 TransmissionType = car.CarParams.TransmissionType
 
 
-def calc_cruise_offset(offset, speed):
-  # heuristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
-  # constraints to solve for _K0, _K1, _K2 are:
-  # - speed = 0m/s, out = -0.3
-  # - speed = 34m/s, offset = 20, out = -0.25
-  # - speed = 34m/s, offset = -2.5, out = -1.8
-  _K0 = -0.3
-  _K1 = -0.01879
-  _K2 = 0.01013
-  return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
-
-
 def get_can_signals(CP, gearbox_msg="GEARBOX"):
   # this function generates lists for signal, messages and initial values
   signals = [
@@ -317,7 +305,6 @@ class CarState(CarStateBase):
         ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
         self.v_cruise_pcm_prev = ret.cruiseState.speed
     else:
-      ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]["CRUISE_SPEED_OFFSET"], ret.vEgo)
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
     self.brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0

selfdrive/car/honda/interface.py

@@ -27,38 +27,6 @@ class CarInterface(CarInterfaceBase):
       ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
-  @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-
-    # normalized max accel. Allowing max accel at low speed causes speed overshoots
-    max_accel_bp = [10, 20]    # m/s
-    max_accel_v = [0.714, 1.0]  # unit of max accel
-    max_accel = interp(v_ego, max_accel_bp, max_accel_v)
-
-    # limit the pcm accel cmd if:
-    # - v_ego exceeds v_target, or
-    # - a_ego exceeds a_target and v_ego is close to v_target
-
-    eA = a_ego - a_target
-    valuesA = [1.0, 0.1]
-    bpA = [0.3, 1.1]
-
-    eV = v_ego - v_target
-    valuesV = [1.0, 0.1]
-    bpV = [0.0, 0.5]
-
-    valuesRangeV = [1., 0.]
-    bpRangeV = [-1., 0.]
-
-    # only limit if v_ego is close to v_target
-    speedLimiter = interp(eV, bpV, valuesV)
-    accelLimiter = max(interp(eA, bpA, valuesA), interp(eV, bpRangeV, valuesRangeV))
-
-    # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
-    # unless aTargetMax is very high and then we scale with it; this help in quicker restart
-
-    return float(max(max_accel, a_target / CarControllerParams.NIDEC_ACCEL_MAX)) * min(speedLimiter, accelLimiter)
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
@@ -439,10 +407,7 @@ class CarInterface(CarInterfaceBase):
 
     can_sends = self.CC.update(c.enabled, self.CS, self.frame,
                                c.actuators,
-                               c.cruiseControl.speedOverride,
-                               c.cruiseControl.override,
                                c.cruiseControl.cancel,
-                               c.cruiseControl.accelOverride,
                                hud_v_cruise,
                                c.hudControl.lanesVisible,
                                hud_show_car=c.hudControl.leadVisible,

selfdrive/car/interfaces.py

@@ -48,10 +48,6 @@ class CarInterfaceBase():
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
 
-  @staticmethod
-  def calc_accel_override(a_ego, a_target, v_ego, v_target):
-    return 1.
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
     raise NotImplementedError

selfdrive/controls/controlsd.py

@@ -149,8 +149,6 @@ class Controls:
     self.events_prev = []
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = False
-    self.v_target = 0.0
-    self.a_target = 0.0
 
     # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
@@ -464,7 +462,7 @@ class Controls:
     if not self.joystick_mode:
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
-      actuators.accel, self.v_target, self.a_target = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
+      actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
       desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
@@ -527,20 +525,10 @@ class Controls:
     CC.enabled = self.enabled
     CC.actuators = actuators
 
-    CC.cruiseControl.override = True
     CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
-    # TODO remove car specific stuff in controls
-    # Some override values for Honda
-    # brake discount removes a sharp nonlinearity
-    brake_discount = (1.0 - clip(-actuators.accel * (3.0/4.0), 0.0, 1.0))
-    speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
-    CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
-    CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,
-                                                                       CS.vEgo, self.v_target))
-
     CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
     CC.hudControl.speedVisible = self.enabled
     CC.hudControl.lanesVisible = self.enabled

selfdrive/controls/lib/longcontrol.py

@@ -136,4 +136,4 @@ class LongControl():
     self.last_output_accel = output_accel
     final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
 
-    return final_accel, v_target, a_target
+    return final_accel

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f283a33700e03e358b84db0c8fbf3b4d6740ee64
+f489c4e160cebde60907d3cd2bfbc06bd9d33aad

tools/replay/ui.py

@@ -80,14 +80,13 @@ def ui_thread(addr, frame_address):
                       "v_override": 10,
                       "v_cruise": 11,
                       "a_ego": 12,
-                      "a_target": 13,
-                      "accel_override": 14}
+                      "a_target": 13}
 
   plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
 
   plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
   plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake", "accel_override"],
+  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
                 ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
                 ["v_ego", "v_override", "v_pid", "v_cruise"],
                 ["a_ego", "a_target"]]
@@ -155,10 +154,8 @@ def ui_thread(addr, frame_address):
     plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
     plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
-    plot_arr[-1, name_to_arr_idx['v_override']] = sm['carControl'].cruiseControl.speedOverride
     plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
     plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-    plot_arr[-1, name_to_arr_idx['accel_override']] = sm['carControl'].cruiseControl.accelOverride
 
     if len(sm['longitudinalPlan'].accels):
       plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]