You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
90 lines
3.4 KiB
90 lines
3.4 KiB
from selfdrive.can.parser import CANParser
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.car.ford.values import DBC
|
|
from common.kalman.simple_kalman import KF1D
|
|
import numpy as np
|
|
|
|
WHEEL_RADIUS = 0.33
|
|
|
|
def get_can_parser(CP):
|
|
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
|
|
("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
|
|
("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
|
|
("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
|
|
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
|
|
("Cruise_State", "Cruise_Status", 0.),
|
|
("Set_Speed", "Cruise_Status", 0.),
|
|
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
|
|
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
|
|
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
|
|
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
|
|
("Dist_Incr", "Steering_Buttons", 0.),
|
|
("Brake_Drv_Appl", "Cruise_Status", 0.),
|
|
("Brake_Lights", "BCM_to_HS_Body", 0.),
|
|
]
|
|
|
|
checks = [
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
|
|
|
|
|
class CarState(object):
|
|
def __init__(self, CP):
|
|
|
|
self.CP = CP
|
|
self.left_blinker_on = 0
|
|
self.right_blinker_on = 0
|
|
|
|
# initialize can parser
|
|
self.car_fingerprint = CP.carFingerprint
|
|
|
|
# vEgo kalman filter
|
|
dt = 0.01
|
|
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
|
|
# R = 1e3
|
|
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
|
|
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
|
|
C=np.matrix([1.0, 0.0]),
|
|
K=np.matrix([[0.12287673], [0.29666309]]))
|
|
self.v_ego = 0.0
|
|
|
|
def update(self, cp):
|
|
# copy can_valid
|
|
self.can_valid = cp.can_valid
|
|
|
|
# update prevs, update must run once per loop
|
|
self.prev_left_blinker_on = self.left_blinker_on
|
|
self.prev_right_blinker_on = self.right_blinker_on
|
|
|
|
# calc best v_ego estimate, by averaging two opposite corners
|
|
self.v_wheel_fl = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
|
|
self.v_wheel_fr = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
|
|
self.v_wheel_rl = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
|
|
self.v_wheel_rr = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
|
|
self.v_wheel = float(np.mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr]))
|
|
|
|
# Kalman filter
|
|
if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
|
self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
|
|
|
|
self.v_ego_raw = self.v_wheel
|
|
v_ego_x = self.v_ego_kf.update(self.v_wheel)
|
|
self.v_ego = float(v_ego_x[0])
|
|
self.a_ego = float(v_ego_x[1])
|
|
self.standstill = not self.v_wheel > 0.001
|
|
|
|
self.angle_steers = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
|
|
self.v_cruise_pcm = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
|
|
self.pcm_acc_status = cp.vl["Cruise_Status"]['Cruise_State']
|
|
self.main_on = cp.vl["Cruise_Status"]['Cruise_State'] != 0
|
|
self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
|
|
self.steer_override = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
|
|
self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
|
|
self.user_gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl']
|
|
self.brake_pressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
|
|
self.brake_lights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
|
|
self.generic_toggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
|
|
|