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[torqued] Fix high speed oscillations (#26338)

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* modify low speed factor during high speeds and rescale friction

* update refs
pull/26403/head
Vivek Aithal 3 years ago committed by GitHub
parent 1b6e37daa6
commit e9eb5d99ff
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3 changed files with 7 additions and 5 deletions
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  1. 2
      selfdrive/car/interfaces.py
  2. 8
      selfdrive/controls/lib/latcontrol_torque.py
  3. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/car/interfaces.py
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@ -23,7 +23,7 @@ TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqu
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0 ACCEL_MAX = 2.0
ACCEL_MIN = -3.5 ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.2 FRICTION_THRESHOLD = 0.3
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') 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') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml')

8
selfdrive/controls/lib/latcontrol_torque.py
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@ -17,7 +17,8 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
# friction in the steering wheel that needs to be overcome to # friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too. # move it at all, this is compensated for too.
LOW_SPEED_FACTOR = 200 LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
class LatControlTorque(LatControl): class LatControlTorque(LatControl):
@ -57,8 +58,9 @@ class LatControlTorque(LatControl):
actual_lateral_accel = actual_curvature * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
error = setpoint - measurement error = setpoint - measurement
gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY 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, pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
24a8d02b148b7f6d20f641d56a7bed71c244b6e3 2991a54ea491633f93fae76da4f5f1d265ce311a
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