From e58f6fbc11424e8059d6a86a4f0990f604c3a22f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 15 Nov 2022 00:46:47 -0800 Subject: [PATCH] Rate limit honda steer (#26500) * Rate limit honda steer * Update ref_commit --- selfdrive/car/honda/carcontroller.py | 14 +++++++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 5fa475fe08..ba1f13fb4e 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -99,6 +99,12 @@ HUDData = namedtuple("HUDData", "lanes_visible", "fcw", "acc_alert", "steer_required"]) +def rate_limit_steer(new_steer, last_steer): + # TODO just hardcoded ramp to min/max in 0.2s for all Honda + MAX_DELTA = 5 * DT_CTRL + return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -116,6 +122,7 @@ class CarController: self.speed = 0.0 self.gas = 0.0 self.brake = 0.0 + self.last_steer = 0.0 def update(self, CC, CS): actuators = CC.actuators @@ -130,6 +137,10 @@ class CarController: accel = 0.0 gas, brake = 0.0, 0.0 + # *** rate limit steer *** + limited_steer = rate_limit_steer(actuators.steer, self.last_steer) + self.last_steer = limited_steer + # *** apply brake hysteresis *** pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady, CS.out.vEgo, self.CP.carFingerprint) @@ -143,7 +154,7 @@ class CarController: # **** process the car messages **** # steer torque is converted back to CAN reference (positive when steering right) - apply_steer = int(interp(-actuators.steer * self.params.STEER_MAX, + apply_steer = int(interp(-limited_steer * self.params.STEER_MAX, self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V)) # Send CAN commands @@ -250,6 +261,7 @@ class CarController: new_actuators.accel = self.accel new_actuators.gas = self.gas new_actuators.brake = self.brake + new_actuators.steer = self.last_steer self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f35e23d45f..a8053936d7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -aa2d370836588fd80b648dbed8d156765ec804d5 +324408a87f49413da864616cb409537ce7d8beb2