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