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88 lines
3.3 KiB
88 lines
3.3 KiB
from cereal import car
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from openpilot.common.numpy_fast import clip
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
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from openpilot.common.pid import PIDController
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from openpilot.selfdrive.modeld.constants import ModelConstants
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CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
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LongCtrlState = car.CarControl.Actuators.LongControlState
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def long_control_state_trans(CP, active, long_control_state, v_ego,
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should_stop, brake_pressed, cruise_standstill):
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stopping_condition = should_stop
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starting_condition = (not should_stop and
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not cruise_standstill and
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not brake_pressed)
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started_condition = v_ego > CP.vEgoStarting
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if not active:
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long_control_state = LongCtrlState.off
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else:
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if long_control_state == LongCtrlState.off:
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if not starting_condition:
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long_control_state = LongCtrlState.stopping
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else:
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if starting_condition and CP.startingState:
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long_control_state = LongCtrlState.starting
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else:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.stopping:
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if starting_condition and CP.startingState:
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long_control_state = LongCtrlState.starting
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elif starting_condition:
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long_control_state = LongCtrlState.pid
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elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif started_condition:
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long_control_state = LongCtrlState.pid
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return long_control_state
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class LongControl:
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def __init__(self, CP):
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self.CP = CP
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self.long_control_state = LongCtrlState.off
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self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
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(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
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k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
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self.last_output_accel = 0.0
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def reset(self):
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self.pid.reset()
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def update(self, active, CS, a_target, should_stop, accel_limits):
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"""Update longitudinal control. This updates the state machine and runs a PID loop"""
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self.pid.neg_limit = accel_limits[0]
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self.pid.pos_limit = accel_limits[1]
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self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
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should_stop, CS.brakePressed,
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CS.cruiseState.standstill)
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if self.long_control_state == LongCtrlState.off:
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self.reset()
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output_accel = 0.
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elif self.long_control_state == LongCtrlState.stopping:
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output_accel = self.last_output_accel
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if output_accel > self.CP.stopAccel:
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output_accel = min(output_accel, 0.0)
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output_accel -= self.CP.stoppingDecelRate * DT_CTRL
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self.reset()
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elif self.long_control_state == LongCtrlState.starting:
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output_accel = self.CP.startAccel
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self.reset()
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else: # LongCtrlState.pid
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error = a_target - CS.aEgo
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output_accel = self.pid.update(error, speed=CS.vEgo,
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feedforward=a_target)
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self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
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return self.last_output_accel
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