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49 lines
2.2 KiB
49 lines
2.2 KiB
from selfdrive.controls.lib.pid import PIController
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from selfdrive.controls.lib.drive_helpers import get_steer_max
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from cereal import car
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from cereal import log
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class LatControlPID():
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def __init__(self, CP):
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self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
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(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
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k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, sat_limit=CP.steerLimitTimer)
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self.angle_steers_des = 0.
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def reset(self):
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self.pid.reset()
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def update(self, active, v_ego, angle_steers, angle_steers_rate, eps_torque, steer_override, rate_limited, CP, path_plan):
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pid_log = log.ControlsState.LateralPIDState.new_message()
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pid_log.steerAngle = float(angle_steers)
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pid_log.steerRate = float(angle_steers_rate)
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if v_ego < 0.3 or not active:
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output_steer = 0.0
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pid_log.active = False
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self.pid.reset()
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else:
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self.angle_steers_des = path_plan.angleSteers # get from MPC/PathPlanner
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steers_max = get_steer_max(CP, v_ego)
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self.pid.pos_limit = steers_max
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self.pid.neg_limit = -steers_max
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steer_feedforward = self.angle_steers_des # feedforward desired angle
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if CP.steerControlType == car.CarParams.SteerControlType.torque:
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# TODO: feedforward something based on path_plan.rateSteers
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steer_feedforward -= path_plan.angleOffset # subtract the offset, since it does not contribute to resistive torque
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steer_feedforward *= v_ego**2 # proportional to realigning tire momentum (~ lateral accel)
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deadzone = 0.0
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check_saturation = (v_ego > 10) and not rate_limited and not steer_override
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output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=check_saturation, override=steer_override,
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feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone)
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pid_log.active = True
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pid_log.p = self.pid.p
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pid_log.i = self.pid.i
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pid_log.f = self.pid.f
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pid_log.output = output_steer
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pid_log.saturated = bool(self.pid.saturated)
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return output_steer, float(self.angle_steers_des), pid_log
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