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446 lines
17 KiB
446 lines
17 KiB
#!/usr/bin/env python
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import zmq
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import math
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import numpy as np
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from collections import defaultdict
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from common.params import Params
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from common.realtime import sec_since_boot
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from common.numpy_fast import interp
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import selfdrive.messaging as messaging
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from selfdrive.swaglog import cloudlog
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from selfdrive.config import Conversions as CV
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from selfdrive.services import service_list
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from selfdrive.controls.lib.drive_helpers import create_event, MPC_COST_LONG, EventTypes as ET
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from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
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from selfdrive.controls.lib.speed_smoother import speed_smoother
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from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
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from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
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NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS
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_DT_MPC = 0.2 # 5Hz
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MAX_SPEED_ERROR = 2.0
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AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
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# lookup tables VS speed to determine min and max accels in cruise
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# make sure these accelerations are smaller than mpc limits
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_A_CRUISE_MIN_V = [-1.0, -.8, -.67, -.5, -.30]
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_A_CRUISE_MIN_BP = [ 0., 5., 10., 20., 40.]
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# need fast accel at very low speed for stop and go
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# make sure these accelerations are smaller than mpc limits
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_A_CRUISE_MAX_V = [1.1, 1.1, .8, .5, .3]
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_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 1.2, .7, .3]
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_A_CRUISE_MAX_BP = [0., 5., 10., 20., 40.]
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# Lookup table for turns
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_A_TOTAL_MAX_V = [1.5, 1.9, 3.2]
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_A_TOTAL_MAX_BP = [0., 20., 40.]
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_FCW_A_ACT_V = [-3., -2.]
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_FCW_A_ACT_BP = [0., 30.]
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def calc_cruise_accel_limits(v_ego, following):
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a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
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if following:
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a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
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else:
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a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
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return np.vstack([a_cruise_min, a_cruise_max])
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def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
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"""
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This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
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this should avoid accelerating when losing the target in turns
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"""
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a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
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a_y = v_ego**2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
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a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
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a_target[1] = min(a_target[1], a_x_allowed)
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return a_target
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class FCWChecker(object):
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def __init__(self):
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self.reset_lead(0.0)
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def reset_lead(self, cur_time):
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self.last_fcw_a = 0.0
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self.v_lead_max = 0.0
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self.lead_seen_t = cur_time
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self.last_fcw_time = 0.0
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self.last_min_a = 0.0
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self.counters = defaultdict(lambda: 0)
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@staticmethod
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def calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead):
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max_ttc = 5.0
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v_rel = v_ego - v_lead
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a_rel = a_ego - a_lead
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# assuming that closing gap ARel comes from lead vehicle decel,
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# then limit ARel so that v_lead will get to zero in no sooner than t_decel.
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# This helps underweighting ARel when v_lead is close to zero.
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t_decel = 2.
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a_rel = np.minimum(a_rel, v_lead / t_decel)
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# delta of the quadratic equation to solve for ttc
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delta = v_rel**2 + 2 * x_lead * a_rel
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# assign an arbitrary high ttc value if there is no solution to ttc
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if delta < 0.1 or (np.sqrt(delta) + v_rel < 0.1):
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ttc = max_ttc
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else:
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ttc = np.minimum(2 * x_lead / (np.sqrt(delta) + v_rel), max_ttc)
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return ttc
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def update(self, mpc_solution, cur_time, v_ego, a_ego, x_lead, v_lead, a_lead, y_lead, vlat_lead, fcw_lead, blinkers):
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mpc_solution_a = list(mpc_solution[0].a_ego)
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self.last_min_a = min(mpc_solution_a)
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self.v_lead_max = max(self.v_lead_max, v_lead)
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if (fcw_lead > 0.99):
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ttc = self.calc_ttc(v_ego, a_ego, x_lead, v_lead, a_lead)
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self.counters['v_ego'] = self.counters['v_ego'] + 1 if v_ego > 5.0 else 0
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self.counters['ttc'] = self.counters['ttc'] + 1 if ttc < 2.5 else 0
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self.counters['v_lead_max'] = self.counters['v_lead_max'] + 1 if self.v_lead_max > 2.5 else 0
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self.counters['v_ego_lead'] = self.counters['v_ego_lead'] + 1 if v_ego > v_lead else 0
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self.counters['lead_seen'] = self.counters['lead_seen'] + 0.33
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self.counters['y_lead'] = self.counters['y_lead'] + 1 if abs(y_lead) < 1.0 else 0
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self.counters['vlat_lead'] = self.counters['vlat_lead'] + 1 if abs(vlat_lead) < 0.4 else 0
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self.counters['blinkers'] = self.counters['blinkers'] + 10.0 / (20 * 3.0) if not blinkers else 0
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a_thr = interp(v_lead, _FCW_A_ACT_BP, _FCW_A_ACT_V)
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a_delta = min(mpc_solution_a[:15]) - min(0.0, a_ego)
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fcw_allowed = all(c >= 10 for c in self.counters.values())
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if (self.last_min_a < -3.0 or a_delta < a_thr) and fcw_allowed and self.last_fcw_time + 5.0 < cur_time:
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self.last_fcw_time = cur_time
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self.last_fcw_a = self.last_min_a
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return True
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return False
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class LongitudinalMpc(object):
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def __init__(self, mpc_id, live_longitudinal_mpc):
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self.live_longitudinal_mpc = live_longitudinal_mpc
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self.mpc_id = mpc_id
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self.setup_mpc()
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self.v_mpc = 0.0
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self.v_mpc_future = 0.0
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self.a_mpc = 0.0
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self.v_cruise = 0.0
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self.prev_lead_status = False
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self.prev_lead_x = 0.0
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self.new_lead = False
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self.last_cloudlog_t = 0.0
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def send_mpc_solution(self, qp_iterations, calculation_time):
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qp_iterations = max(0, qp_iterations)
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dat = messaging.new_message()
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dat.init('liveLongitudinalMpc')
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dat.liveLongitudinalMpc.xEgo = list(self.mpc_solution[0].x_ego)
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dat.liveLongitudinalMpc.vEgo = list(self.mpc_solution[0].v_ego)
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dat.liveLongitudinalMpc.aEgo = list(self.mpc_solution[0].a_ego)
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dat.liveLongitudinalMpc.xLead = list(self.mpc_solution[0].x_l)
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dat.liveLongitudinalMpc.vLead = list(self.mpc_solution[0].v_l)
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dat.liveLongitudinalMpc.cost = self.mpc_solution[0].cost
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dat.liveLongitudinalMpc.aLeadTau = self.a_lead_tau
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dat.liveLongitudinalMpc.qpIterations = qp_iterations
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dat.liveLongitudinalMpc.mpcId = self.mpc_id
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dat.liveLongitudinalMpc.calculationTime = calculation_time
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self.live_longitudinal_mpc.send(dat.to_bytes())
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def setup_mpc(self):
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ffi, self.libmpc = libmpc_py.get_libmpc(self.mpc_id)
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self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE,
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MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
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self.mpc_solution = ffi.new("log_t *")
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self.cur_state = ffi.new("state_t *")
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self.cur_state[0].v_ego = 0
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self.cur_state[0].a_ego = 0
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self.a_lead_tau = _LEAD_ACCEL_TAU
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def set_cur_state(self, v, a):
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self.cur_state[0].v_ego = v
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self.cur_state[0].a_ego = a
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def update(self, CS, lead, v_cruise_setpoint):
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v_ego = CS.carState.vEgo
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# Setup current mpc state
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self.cur_state[0].x_ego = 0.0
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if lead is not None and lead.status:
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x_lead = lead.dRel
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v_lead = max(0.0, lead.vLead)
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a_lead = lead.aLeadK
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if (v_lead < 0.1 or -a_lead / 2.0 > v_lead):
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v_lead = 0.0
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a_lead = 0.0
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self.a_lead_tau = max(lead.aLeadTau, (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2))
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self.new_lead = False
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if not self.prev_lead_status or abs(x_lead - self.prev_lead_x) > 2.5:
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self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau)
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self.new_lead = True
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self.prev_lead_status = True
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self.prev_lead_x = x_lead
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self.cur_state[0].x_l = x_lead
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self.cur_state[0].v_l = v_lead
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else:
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self.prev_lead_status = False
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# Fake a fast lead car, so mpc keeps running
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self.cur_state[0].x_l = 50.0
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self.cur_state[0].v_l = v_ego + 10.0
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a_lead = 0.0
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self.a_lead_tau = _LEAD_ACCEL_TAU
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# Calculate mpc
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t = sec_since_boot()
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n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead)
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duration = int((sec_since_boot() - t) * 1e9)
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self.send_mpc_solution(n_its, duration)
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# Get solution. MPC timestep is 0.2 s, so interpolation to 0.05 s is needed
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self.v_mpc = self.mpc_solution[0].v_ego[1]
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self.a_mpc = self.mpc_solution[0].a_ego[1]
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self.v_mpc_future = self.mpc_solution[0].v_ego[10]
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# Reset if NaN or goes through lead car
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dls = np.array(list(self.mpc_solution[0].x_l)) - np.array(list(self.mpc_solution[0].x_ego))
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crashing = min(dls) < -50.0
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nans = np.any(np.isnan(list(self.mpc_solution[0].v_ego)))
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backwards = min(list(self.mpc_solution[0].v_ego)) < -0.01
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if ((backwards or crashing) and self.prev_lead_status) or nans:
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if t > self.last_cloudlog_t + 5.0:
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self.last_cloudlog_t = t
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cloudlog.warning("Longitudinal mpc %d reset - backwards: %s crashing: %s nan: %s" % (
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self.mpc_id, backwards, crashing, nans))
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self.libmpc.init(MPC_COST_LONG.TTC, MPC_COST_LONG.DISTANCE,
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MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
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self.cur_state[0].v_ego = v_ego
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self.cur_state[0].a_ego = 0.0
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self.v_mpc = v_ego
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self.a_mpc = CS.carState.aEgo
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self.prev_lead_status = False
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class Planner(object):
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def __init__(self, CP, fcw_enabled):
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context = zmq.Context()
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self.CP = CP
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self.poller = zmq.Poller()
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self.plan = messaging.pub_sock(context, service_list['plan'].port)
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self.live_longitudinal_mpc = messaging.pub_sock(context, service_list['liveLongitudinalMpc'].port)
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self.radar_errors = []
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self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc)
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self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc)
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self.v_acc_start = 0.0
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self.a_acc_start = 0.0
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self.v_acc = 0.0
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self.v_acc_future = 0.0
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self.a_acc = 0.0
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self.v_cruise = 0.0
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self.a_cruise = 0.0
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self.lead_1 = None
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self.lead_2 = None
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self.longitudinalPlanSource = 'cruise'
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self.fcw = False
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self.fcw_checker = FCWChecker()
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self.fcw_enabled = fcw_enabled
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self.params = Params()
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self.v_curvature = NO_CURVATURE_SPEED
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self.v_speedlimit = NO_CURVATURE_SPEED
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self.decel_for_turn = False
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self.map_valid = False
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def choose_solution(self, v_cruise_setpoint, enabled):
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if enabled:
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solutions = {'cruise': self.v_cruise}
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if self.mpc1.prev_lead_status:
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solutions['mpc1'] = self.mpc1.v_mpc
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if self.mpc2.prev_lead_status:
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solutions['mpc2'] = self.mpc2.v_mpc
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slowest = min(solutions, key=solutions.get)
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self.longitudinalPlanSource = slowest
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# Choose lowest of MPC and cruise
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if slowest == 'mpc1':
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self.v_acc = self.mpc1.v_mpc
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self.a_acc = self.mpc1.a_mpc
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elif slowest == 'mpc2':
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self.v_acc = self.mpc2.v_mpc
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self.a_acc = self.mpc2.a_mpc
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elif slowest == 'cruise':
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self.v_acc = self.v_cruise
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self.a_acc = self.a_cruise
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self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint])
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def update(self, CS, CP, VM, PP, live20, live100, md, live_map_data):
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"""Gets called when new live20 is available"""
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cur_time = live20.logMonoTime / 1e9
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v_ego = CS.carState.vEgo
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long_control_state = live100.live100.longControlState
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v_cruise_kph = live100.live100.vCruise
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force_slow_decel = live100.live100.forceDecel
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v_cruise_setpoint = v_cruise_kph * CV.KPH_TO_MS
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self.last_md_ts = md.logMonoTime
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self.radar_errors = list(live20.live20.radarErrors)
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self.lead_1 = live20.live20.leadOne
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self.lead_2 = live20.live20.leadTwo
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enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
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following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > v_ego and self.lead_1.aLeadK > 0.0
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self.v_speedlimit = NO_CURVATURE_SPEED
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self.v_curvature = NO_CURVATURE_SPEED
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self.map_valid = live_map_data.liveMapData.mapValid
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# Speed limit and curvature
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set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None
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if set_speed_limit_active:
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if live_map_data.liveMapData.speedLimitValid:
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speed_limit = live_map_data.liveMapData.speedLimit
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offset = float(self.params.get("SpeedLimitOffset"))
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self.v_speedlimit = speed_limit + offset
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if live_map_data.liveMapData.curvatureValid:
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curvature = abs(live_map_data.liveMapData.curvature)
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a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph
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v_curvature = math.sqrt(a_y_max / max(1e-4, curvature))
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self.v_curvature = min(NO_CURVATURE_SPEED, v_curvature)
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self.decel_for_turn = bool(self.v_curvature < min([v_cruise_setpoint, self.v_speedlimit, v_ego + 1.]))
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v_cruise_setpoint = min([v_cruise_setpoint, self.v_curvature, self.v_speedlimit])
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# Calculate speed for normal cruise control
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if enabled:
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accel_limits = map(float, calc_cruise_accel_limits(v_ego, following))
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jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] # TODO: make a separate lookup for jerk tuning
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accel_limits = limit_accel_in_turns(v_ego, CS.carState.steeringAngle, accel_limits, self.CP)
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if force_slow_decel:
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# if required so, force a smooth deceleration
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accel_limits[1] = min(accel_limits[1], AWARENESS_DECEL)
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accel_limits[0] = min(accel_limits[0], accel_limits[1])
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# Change accel limits based on time remaining to turn
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if self.decel_for_turn:
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time_to_turn = max(1.0, live_map_data.liveMapData.distToTurn / max(self.v_cruise, 1.))
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required_decel = min(0, (self.v_curvature - self.v_cruise) / time_to_turn)
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accel_limits[0] = max(accel_limits[0], required_decel)
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self.v_cruise, self.a_cruise = speed_smoother(self.v_acc_start, self.a_acc_start,
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v_cruise_setpoint,
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accel_limits[1], accel_limits[0],
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jerk_limits[1], jerk_limits[0],
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_DT_MPC)
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# cruise speed can't be negative even is user is distracted
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self.v_cruise = max(self.v_cruise, 0.)
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else:
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starting = long_control_state == LongCtrlState.starting
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a_ego = min(CS.carState.aEgo, 0.0)
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reset_speed = MIN_CAN_SPEED if starting else v_ego
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reset_accel = self.CP.startAccel if starting else a_ego
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self.v_acc = reset_speed
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self.a_acc = reset_accel
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self.v_acc_start = reset_speed
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self.a_acc_start = reset_accel
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self.v_cruise = reset_speed
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self.a_cruise = reset_accel
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self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start)
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self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start)
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self.mpc1.update(CS, self.lead_1, v_cruise_setpoint)
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self.mpc2.update(CS, self.lead_2, v_cruise_setpoint)
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self.choose_solution(v_cruise_setpoint, enabled)
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# determine fcw
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if self.mpc1.new_lead:
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self.fcw_checker.reset_lead(cur_time)
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blinkers = CS.carState.leftBlinker or CS.carState.rightBlinker
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self.fcw = self.fcw_checker.update(self.mpc1.mpc_solution, cur_time, v_ego, CS.carState.aEgo,
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self.lead_1.dRel, self.lead_1.vLead, self.lead_1.aLeadK,
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self.lead_1.yRel, self.lead_1.vLat,
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self.lead_1.fcw, blinkers) and not CS.carState.brakePressed
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if self.fcw:
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cloudlog.info("FCW triggered %s", self.fcw_checker.counters)
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model_dead = cur_time - (md.logMonoTime / 1e9) > 0.5
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# **** send the plan ****
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plan_send = messaging.new_message()
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plan_send.init('plan')
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# TODO: Move all these events to controlsd. This has nothing to do with planning
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events = []
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if model_dead:
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events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if 'fault' in self.radar_errors:
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events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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|
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plan_send.plan.events = events
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plan_send.plan.mdMonoTime = md.logMonoTime
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plan_send.plan.l20MonoTime = live20.logMonoTime
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|
|
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# longitudal plan
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plan_send.plan.vCruise = self.v_cruise
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plan_send.plan.aCruise = self.a_cruise
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plan_send.plan.vStart = self.v_acc_start
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plan_send.plan.aStart = self.a_acc_start
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plan_send.plan.vTarget = self.v_acc
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plan_send.plan.aTarget = self.a_acc
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plan_send.plan.vTargetFuture = self.v_acc_future
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plan_send.plan.hasLead = self.mpc1.prev_lead_status
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plan_send.plan.longitudinalPlanSource = self.longitudinalPlanSource
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|
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plan_send.plan.vCurvature = self.v_curvature
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plan_send.plan.decelForTurn = self.decel_for_turn
|
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plan_send.plan.mapValid = self.map_valid
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|
|
|
# Send out fcw
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|
fcw = self.fcw and (self.fcw_enabled or long_control_state != LongCtrlState.off)
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plan_send.plan.fcw = fcw
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|
|
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self.plan.send(plan_send.to_bytes())
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|
|
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# Interpolate 0.05 seconds and save as starting point for next iteration
|
|
dt = 0.05 # s
|
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a_acc_sol = self.a_acc_start + (dt / _DT_MPC) * (self.a_acc - self.a_acc_start)
|
|
v_acc_sol = self.v_acc_start + dt * (a_acc_sol + self.a_acc_start) / 2.0
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|
self.v_acc_start = v_acc_sol
|
|
self.a_acc_start = a_acc_sol
|
|
|