Increase low speed jerk cost (#26008)

* Increase low speed jerk cost

* Update planner weight

* Update ref_commit

* Update lateral_planner.py

* cleanup and refactor

* Update ref_commit

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -20,6 +20,7 @@ P_DIM = 2
 N = 16
 COST_E_DIM = 3
 COST_DIM = COST_E_DIM + 1
+SPEED_OFFSET = 10.0
 MODEL_NAME = 'lat'
 ACADOS_SOLVER_TYPE = 'SQP_RTI'
 
@@ -88,14 +89,13 @@ def gen_lat_ocp():
 
   ocp.cost.yref = np.zeros((COST_DIM, ))
   ocp.cost.yref_e = np.zeros((COST_E_DIM, ))
-  # TODO hacky weights to keep behavior the same
   ocp.model.cost_y_expr = vertcat(y_ego,
-                                  ((v_ego + 5.0) * psi_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego_dot))
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego_dot))
   ocp.model.cost_y_expr_e = vertcat(y_ego,
-                                  ((v_ego + 5.0) * psi_ego),
+                                  ((v_ego + SPEED_OFFSET) * psi_ego),
-                                  ((v_ego + 5.0) * psi_rate_ego))
+                                  ((v_ego + SPEED_OFFSET) * psi_rate_ego))
 
   # set constraints
   ocp.constraints.constr_type = 'BGH'
@@ -158,8 +158,8 @@ class LateralMpc():
     self.yref[:,0] = y_pts
     v_ego = p_cp[0]
     # rotation_radius = p_cp[1]
-    self.yref[:,1] = heading_pts * (v_ego+5.0)
+    self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
-    self.yref[:,2] = yaw_rate_pts * (v_ego+5.0)
+    self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
       self.solver.set(i, "p", p_cp)

selfdrive/controls/lib/lateral_planner.py

@@ -12,6 +12,15 @@ from cereal import log
 TRAJECTORY_SIZE = 33
 CAMERA_OFFSET = 0.04
 
+
+PATH_COST = 1.0
+LATERAL_MOTION_COST = 0.11
+LATERAL_ACCEL_COST = 0.0
+LATERAL_JERK_COST = 0.05
+
+MIN_SPEED = 1.5
+
+
 class LateralPlanner:
   def __init__(self, CP):
     self.DH = DesireHelper()
@@ -36,7 +45,8 @@ class LateralPlanner:
     self.lat_mpc.reset(x0=self.x0)
 
   def update(self, sm):
-    v_ego = sm['carState'].vEgo
+    # clip speed , lateral planning is not possible at 0 speed
+    self.v_ego = max(MIN_SPEED, sm['carState'].vEgo)
     measured_curvature = sm['controlsState'].curvature
 
     # Parse model predictions
@@ -56,20 +66,19 @@ class LateralPlanner:
     self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
     d_path_xyz = self.path_xyz
-    # Heading cost is useful at low speed, otherwise end of plan can be off-heading
+    self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
-    heading_cost = interp(v_ego, [5.0, 10.0], [1.0, 0.15])
+                             LATERAL_ACCEL_COST, LATERAL_JERK_COST)
-    self.lat_mpc.set_weights(1.0, heading_cost, 0.0, .075)
 
-    y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
+    y_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
-    heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+    heading_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
-    yaw_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
+    yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
     self.y_pts = y_pts
 
     assert len(y_pts) == LAT_MPC_N + 1
     assert len(heading_pts) == LAT_MPC_N + 1
     assert len(yaw_rate_pts) == LAT_MPC_N + 1
-    lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
+    lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2))
-    p = np.array([v_ego, lateral_factor])
+    p = np.array([self.v_ego, lateral_factor])
     self.lat_mpc.run(self.x0,
                      p,
                      y_pts,
@@ -86,7 +95,7 @@ class LateralPlanner:
     t = sec_since_boot()
     if mpc_nans or self.lat_mpc.solution_status != 0:
       self.reset_mpc()
-      self.x0[3] = measured_curvature
+      self.x0[3] = measured_curvature * self.v_ego
       if t > self.last_cloudlog_t + 5.0:
         self.last_cloudlog_t = t
         cloudlog.warning("Lateral mpc - nan: True")
@@ -106,10 +115,8 @@ class LateralPlanner:
     lateralPlan.dPathPoints = self.y_pts.tolist()
     lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
 
-    # clip speed for curv calculation at 1m/s, to prevent low speed extremes
+    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    clipped_speed = max(1.0, sm['carState'].vEgo)
+    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
-    lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/clipped_speed).tolist()
-    lateralPlan.curvatureRates = [float(x/clipped_speed) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
 
     lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
     lateralPlan.solverExecutionTime = self.lat_mpc.solve_time

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-338c24158bb28952dcd1554ea91734b4281e2fed
+f636c68e2b4ed88d3731930cf15b6dee984eb6dd