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