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301 lines
12 KiB
301 lines
12 KiB
#!/usr/bin/env python3
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import os
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import sys
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import signal
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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 common.params import Params
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from common.realtime import config_realtime_process, DT_MDL
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from common.filter_simple import FirstOrderFilter
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from system.swaglog import cloudlog
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from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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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 = 800
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FIT_POINTS_TOTAL = 2000
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FIT_POINTS_TOTAL_QLOG = 800
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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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FRICTION_SANITY = 0.5
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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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MAX_RESETS = 5.0
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MAX_INVALID_THRESHOLD = 10
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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 NPQueue:
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def __init__(self, maxlen, rowsize):
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self.maxlen = maxlen
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self.arr = np.empty((0, rowsize))
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def __len__(self):
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return len(self.arr)
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def append(self, pt):
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if len(self.arr) < self.maxlen:
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self.arr = np.append(self.arr, [pt], axis=0)
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else:
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self.arr[:-1] = self.arr[1:]
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self.arr[-1] = pt
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class PointBuckets:
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def __init__(self, x_bounds, min_points, min_points_total):
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self.x_bounds = x_bounds
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self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds}
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self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)}
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self.min_points_total = min_points_total
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def bucket_lengths(self):
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return [len(v) for v in self.buckets.values()]
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def __len__(self):
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return sum(self.bucket_lengths())
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def is_valid(self):
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return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total)
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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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def get_points(self, num_points=None):
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points = np.vstack([x.arr for x in self.buckets.values()])
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if num_points is None:
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return points
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return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)]
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def load_points(self, points):
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for x, y in points:
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self.add_point(x, y)
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class TorqueEstimator:
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def __init__(self, CP, decimated=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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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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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.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.carName in ALLOWED_CARS
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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.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 - FACTOR_SANITY) * self.offline_latAccelFactor
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self.max_lataccel_factor = (1.0 + FACTOR_SANITY) * self.offline_latAccelFactor
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self.min_friction = (1.0 - FRICTION_SANITY) * self.offline_friction
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self.max_friction = (1.0 + 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("LiveTorqueCarParams")
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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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cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters
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cache_CP = car.CarParams.from_bytes(params_cache)
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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("LiveTorqueCarParams")
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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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def get_restore_key(self, 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.invalid_values_tracker = 0.0
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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 = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total)
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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 is_sane(self, latAccelFactor, latAccelOffset, friction):
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if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, friction]]):
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return False
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return (self.max_friction >= friction >= self.min_friction) and\
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(self.max_lataccel_factor >= latAccelFactor >= self.min_lataccel_factor)
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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["steer_torque"].append(-msg.actuatorsOutput.steer)
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self.raw_points["active"].append(msg.latActive)
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elif which == "carState":
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self.raw_points["carState_t"].append(t + self.lag)
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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 == "liveLocationKalman":
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if len(self.raw_points['steer_torque']) == self.hist_len:
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yaw_rate = msg.angularVelocityCalibrated.value[2]
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roll = msg.orientationNED.value[0]
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active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
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steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), 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['carControl_t'], self.raw_points['steer_torque'])
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lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
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if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
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self.filtered_points.add_point(float(steer), float(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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if self.filtered_points.is_valid():
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latAccelFactor, latAccelOffset, friction_coeff = 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(friction_coeff)
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if self.is_sane(latAccelFactor, latAccelOffset, friction_coeff):
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liveTorqueParameters.liveValid = True
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self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff})
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self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5)
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else:
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cloudlog.exception("Live torque parameters are outside acceptable bounds.")
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liveTorqueParameters.liveValid = False
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self.invalid_values_tracker += 1.0
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# Reset when ~10 invalid over 5 secs
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if self.invalid_values_tracker > MAX_INVALID_THRESHOLD:
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# Do not reset the filter as it may cause a drastic jump, just reset points
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self.reset()
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else:
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liveTorqueParameters.liveValid = False
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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(sm=None, pm=None):
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config_realtime_process([0, 1, 2, 3], 5)
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if sm is None:
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sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
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if pm is None:
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pm = messaging.PubMaster(['liveTorqueParameters'])
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params = Params()
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CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
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estimator = TorqueEstimator(CP)
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def cache_params(sig, frame):
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signal.signal(sig, signal.SIG_DFL)
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cloudlog.warning("caching torque params")
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params = Params()
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params.put("LiveTorqueCarParams", CP.as_builder().to_bytes())
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msg = estimator.get_msg(with_points=True)
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params.put("LiveTorqueParameters", msg.to_bytes())
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sys.exit(0)
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if "REPLAY" not in os.environ:
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signal.signal(signal.SIGINT, cache_params)
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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 liveLocationKalman
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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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if __name__ == "__main__":
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main()
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