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273 lines
12 KiB
273 lines
12 KiB
#!/usr/bin/env python3
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import numpy as np
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from collections import deque, defaultdict
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import cereal.messaging as messaging
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from cereal import car, log
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process, DT_MDL
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
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HISTORY = 5 # secs
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POINTS_PER_BUCKET = 1500
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MIN_POINTS_TOTAL = 4000
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MIN_POINTS_TOTAL_QLOG = 600
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FIT_POINTS_TOTAL = 2000
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FIT_POINTS_TOTAL_QLOG = 600
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MIN_VEL = 15 # m/s
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FRICTION_FACTOR = 1.5 # ~85% of data coverage
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FACTOR_SANITY = 0.3
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FACTOR_SANITY_QLOG = 0.5
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FRICTION_SANITY = 0.5
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FRICTION_SANITY_QLOG = 0.8
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STEER_MIN_THRESHOLD = 0.02
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MIN_FILTER_DECAY = 50
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MAX_FILTER_DECAY = 250
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LAT_ACC_THRESHOLD = 1
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STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)]
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MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
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MIN_ENGAGE_BUFFER = 2 # secs
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VERSION = 1 # bump this to invalidate old parameter caches
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ALLOWED_CARS = ['toyota', 'hyundai']
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def slope2rot(slope):
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sin = np.sqrt(slope ** 2 / (slope ** 2 + 1))
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cos = np.sqrt(1 / (slope ** 2 + 1))
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return np.array([[cos, -sin], [sin, cos]])
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class TorqueBuckets(PointBuckets):
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def add_point(self, x, y):
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for bound_min, bound_max in self.x_bounds:
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if (x >= bound_min) and (x < bound_max):
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self.buckets[(bound_min, bound_max)].append([x, 1.0, y])
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break
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class TorqueEstimator(ParameterEstimator):
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def __init__(self, CP, decimated=False, track_all_points=False):
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self.hist_len = int(HISTORY / DT_MDL)
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self.lag = CP.steerActuatorDelay + .2 # from controlsd
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self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters
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if decimated:
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self.min_bucket_points = MIN_BUCKET_POINTS / 10
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self.min_points_total = MIN_POINTS_TOTAL_QLOG
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self.fit_points = FIT_POINTS_TOTAL_QLOG
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self.factor_sanity = FACTOR_SANITY_QLOG
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self.friction_sanity = FRICTION_SANITY_QLOG
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else:
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self.min_bucket_points = MIN_BUCKET_POINTS
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self.min_points_total = MIN_POINTS_TOTAL
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self.fit_points = FIT_POINTS_TOTAL
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self.factor_sanity = FACTOR_SANITY
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self.friction_sanity = FRICTION_SANITY
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self.offline_friction = 0.0
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self.offline_latAccelFactor = 0.0
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self.resets = 0.0
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self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
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if CP.lateralTuning.which() == 'torque':
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self.offline_friction = CP.lateralTuning.torque.friction
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self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
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self.calibrator = PoseCalibrator()
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self.reset()
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initial_params = {
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'latAccelFactor': self.offline_latAccelFactor,
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'latAccelOffset': 0.0,
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'frictionCoefficient': self.offline_friction,
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'points': []
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}
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self.decay = MIN_FILTER_DECAY
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self.min_lataccel_factor = (1.0 - self.factor_sanity) * self.offline_latAccelFactor
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self.max_lataccel_factor = (1.0 + self.factor_sanity) * self.offline_latAccelFactor
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self.min_friction = (1.0 - self.friction_sanity) * self.offline_friction
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self.max_friction = (1.0 + self.friction_sanity) * self.offline_friction
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# try to restore cached params
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params = Params()
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params_cache = params.get("CarParamsPrevRoute")
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torque_cache = params.get("LiveTorqueParameters")
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if params_cache is not None and torque_cache is not None:
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try:
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with log.Event.from_bytes(torque_cache) as log_evt:
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cache_ltp = log_evt.liveTorqueParameters
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with car.CarParams.from_bytes(params_cache) as msg:
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cache_CP = msg
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if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
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if cache_ltp.liveValid:
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initial_params = {
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'latAccelFactor': cache_ltp.latAccelFactorFiltered,
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'latAccelOffset': cache_ltp.latAccelOffsetFiltered,
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'frictionCoefficient': cache_ltp.frictionCoefficientFiltered
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}
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initial_params['points'] = cache_ltp.points
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self.decay = cache_ltp.decay
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self.filtered_points.load_points(initial_params['points'])
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cloudlog.info("restored torque params from cache")
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except Exception:
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cloudlog.exception("failed to restore cached torque params")
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params.remove("LiveTorqueParameters")
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self.filtered_params = {}
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for param in initial_params:
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self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
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@staticmethod
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def get_restore_key(CP, version):
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a, b = None, None
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if CP.lateralTuning.which() == 'torque':
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a = CP.lateralTuning.torque.friction
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b = CP.lateralTuning.torque.latAccelFactor
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return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version)
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def reset(self):
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self.resets += 1.0
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self.decay = MIN_FILTER_DECAY
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self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len))
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self.filtered_points = TorqueBuckets(x_bounds=STEER_BUCKET_BOUNDS,
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min_points=self.min_bucket_points,
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min_points_total=self.min_points_total,
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points_per_bucket=POINTS_PER_BUCKET,
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rowsize=3)
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self.all_torque_points = []
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def estimate_params(self):
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points = self.filtered_points.get_points(self.fit_points)
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# total least square solution as both x and y are noisy observations
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# this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals
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try:
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_, _, v = np.linalg.svd(points, full_matrices=False)
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slope, offset = -v.T[0:2, 2] / v.T[2, 2]
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_, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T
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friction_coeff = np.std(spread) * FRICTION_FACTOR
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except np.linalg.LinAlgError as e:
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cloudlog.exception(f"Error computing live torque params: {e}")
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slope = offset = friction_coeff = np.nan
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return slope, offset, friction_coeff
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def update_params(self, params):
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self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY)
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for param, value in params.items():
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self.filtered_params[param].update(value)
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self.filtered_params[param].update_alpha(self.decay)
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def handle_log(self, t, which, msg):
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if which == "carControl":
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self.raw_points["carControl_t"].append(t + self.lag)
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self.raw_points["lat_active"].append(msg.latActive)
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elif which == "carOutput":
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self.raw_points["carOutput_t"].append(t + self.lag)
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self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
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elif which == "carState":
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self.raw_points["carState_t"].append(t + self.lag)
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# TODO: check if high aEgo affects resulting lateral accel
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self.raw_points["vego"].append(msg.vEgo)
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self.raw_points["steer_override"].append(msg.steeringPressed)
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elif which == "liveCalibration":
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self.calibrator.feed_live_calib(msg)
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# calculate lateral accel from past steering torque
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elif which == "livePose":
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if len(self.raw_points['steer_torque']) == self.hist_len:
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device_pose = Pose.from_live_pose(msg)
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calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
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angular_velocity_calibrated = calibrated_pose.angular_velocity
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yaw_rate = angular_velocity_calibrated.yaw
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roll = device_pose.orientation.roll
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# check lat active up to now (without lag compensation)
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lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
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self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
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steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
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self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
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vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
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steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
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lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
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if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD):
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if abs(lateral_acc) <= LAT_ACC_THRESHOLD:
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self.filtered_points.add_point(steer, lateral_acc)
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if self.track_all_points:
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self.all_torque_points.append([steer, lateral_acc])
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def get_msg(self, valid=True, with_points=False):
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msg = messaging.new_message('liveTorqueParameters')
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msg.valid = valid
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liveTorqueParameters = msg.liveTorqueParameters
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liveTorqueParameters.version = VERSION
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liveTorqueParameters.useParams = self.use_params
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# Calculate raw estimates when possible, only update filters when enough points are gathered
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if self.filtered_points.is_calculable():
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latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params()
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liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
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liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
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liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
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if self.filtered_points.is_valid():
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if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
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cloudlog.exception("Live torque parameters are invalid.")
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liveTorqueParameters.liveValid = False
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self.reset()
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else:
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liveTorqueParameters.liveValid = True
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latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
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frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
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self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
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if with_points:
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liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
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liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x)
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liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x)
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liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x)
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liveTorqueParameters.totalBucketPoints = len(self.filtered_points)
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liveTorqueParameters.decay = self.decay
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liveTorqueParameters.maxResets = self.resets
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return msg
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def main(demo=False):
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config_realtime_process([0, 1, 2, 3], 5)
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pm = messaging.PubMaster(['liveTorqueParameters'])
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sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
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params = Params()
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estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
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while True:
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sm.update()
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if sm.all_checks():
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for which in sm.updated.keys():
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if sm.updated[which]:
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t = sm.logMonoTime[which] * 1e-9
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estimator.handle_log(t, which, sm[which])
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# 4Hz driven by livePose
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if sm.frame % 5 == 0:
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pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
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# Cache points every 60 seconds while onroad
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if sm.frame % 240 == 0:
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msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
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params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
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if __name__ == "__main__":
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import argparse
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parser = argparse.ArgumentParser(description='Process the --demo argument.')
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parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
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args = parser.parse_args()
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main(demo=args.demo)
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