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137 lines
5.3 KiB
137 lines
5.3 KiB
from cereal import log
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from common.numpy_fast import clip, interp
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from selfdrive.controls.lib.pid import PIController
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from selfdrive.controls.lib.drive_helpers import CONTROL_N
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from selfdrive.modeld.constants import T_IDXS
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LongCtrlState = log.ControlsState.LongControlState
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STOPPING_EGO_SPEED = 0.5
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STOPPING_TARGET_SPEED_OFFSET = 0.01
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STARTING_TARGET_SPEED = 0.5
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BRAKE_THRESHOLD_TO_PID = 0.2
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BRAKE_STOPPING_TARGET = 0.5 # apply at least this amount of brake to maintain the vehicle stationary
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RATE = 100.0
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DEFAULT_LONG_LAG = 0.15
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def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
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output_gb, brake_pressed, cruise_standstill, min_speed_can):
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"""Update longitudinal control state machine"""
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stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
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stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
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(v_ego < STOPPING_EGO_SPEED and
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((v_pid < stopping_target_speed and v_target < stopping_target_speed) or
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brake_pressed))
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starting_condition = v_target > STARTING_TARGET_SPEED and not cruise_standstill
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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 active:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.pid:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif long_control_state == LongCtrlState.stopping:
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if starting_condition:
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long_control_state = LongCtrlState.starting
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elif long_control_state == LongCtrlState.starting:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif output_gb >= -BRAKE_THRESHOLD_TO_PID:
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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, compute_gb):
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self.long_control_state = LongCtrlState.off # initialized to off
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self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
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(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
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rate=RATE,
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sat_limit=0.8,
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convert=compute_gb)
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self.v_pid = 0.0
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self.last_output_gb = 0.0
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def reset(self, v_pid):
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"""Reset PID controller and change setpoint"""
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self.pid.reset()
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self.v_pid = v_pid
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def update(self, active, CS, CP, long_plan):
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"""Update longitudinal control. This updates the state machine and runs a PID loop"""
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# Interp control trajectory
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# TODO estimate car specific lag, use .5s for now
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if len(long_plan.speeds) == CONTROL_N:
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v_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.speeds)
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v_target_future = long_plan.speeds[-1]
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a_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.accels)
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else:
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v_target = 0.0
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v_target_future = 0.0
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a_target = 0.0
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# Actuation limits
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gas_max = interp(CS.vEgo, CP.gasMaxBP, CP.gasMaxV)
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brake_max = interp(CS.vEgo, CP.brakeMaxBP, CP.brakeMaxV)
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# Update state machine
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output_gb = self.last_output_gb
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self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,
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v_target_future, self.v_pid, output_gb,
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CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
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v_ego_pid = max(CS.vEgo, CP.minSpeedCan) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
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if self.long_control_state == LongCtrlState.off or CS.gasPressed:
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self.reset(v_ego_pid)
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output_gb = 0.
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# tracking objects and driving
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elif self.long_control_state == LongCtrlState.pid:
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self.v_pid = v_target
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self.pid.pos_limit = gas_max
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self.pid.neg_limit = - brake_max
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# Toyota starts braking more when it thinks you want to stop
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# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
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prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
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deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
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output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot)
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if prevent_overshoot:
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output_gb = min(output_gb, 0.0)
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# Intention is to stop, switch to a different brake control until we stop
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elif self.long_control_state == LongCtrlState.stopping:
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# Keep applying brakes until the car is stopped
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if not CS.standstill or output_gb > -BRAKE_STOPPING_TARGET:
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output_gb -= CP.stoppingBrakeRate / RATE
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output_gb = clip(output_gb, -brake_max, gas_max)
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self.reset(CS.vEgo)
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# Intention is to move again, release brake fast before handing control to PID
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elif self.long_control_state == LongCtrlState.starting:
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if output_gb < -0.2:
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output_gb += CP.startingBrakeRate / RATE
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self.reset(CS.vEgo)
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self.last_output_gb = output_gb
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final_gas = clip(output_gb, 0., gas_max)
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final_brake = -clip(output_gb, -brake_max, 0.)
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return final_gas, final_brake, v_target, a_target
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