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130 lines
5.5 KiB
130 lines
5.5 KiB
from cereal import car
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from openpilot.common.numpy_fast import clip, interp
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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, apply_deadzone
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from openpilot.selfdrive.controls.lib.pid import PIDController
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from openpilot.selfdrive.modeld.constants import ModelConstants
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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, v_target,
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v_target_1sec, brake_pressed, cruise_standstill):
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accelerating = v_target_1sec > v_target
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planned_stop = (v_target < CP.vEgoStopping and
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v_target_1sec < CP.vEgoStopping and
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not accelerating)
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stay_stopped = (v_ego < CP.vEgoStopping and
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(brake_pressed or cruise_standstill))
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stopping_condition = planned_stop or stay_stopped
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starting_condition = (v_target_1sec > CP.vEgoStarting and
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accelerating 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 in (LongCtrlState.off, LongCtrlState.pid):
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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 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 == LongCtrlState.starting:
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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 # initialized to 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.v_pid = 0.0
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self.last_output_accel = 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, long_plan, accel_limits, t_since_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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speeds = long_plan.speeds
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if len(speeds) == CONTROL_N:
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v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
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a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
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v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
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a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
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v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
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a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
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v_target = min(v_target_lower, v_target_upper)
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a_target = min(a_target_lower, a_target_upper)
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v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
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else:
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v_target = 0.0
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v_target_now = 0.0
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v_target_1sec = 0.0
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a_target = 0.0
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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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output_accel = self.last_output_accel
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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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v_target, v_target_1sec, 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(CS.vEgo)
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output_accel = 0.
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elif self.long_control_state == LongCtrlState.stopping:
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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(CS.vEgo)
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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(CS.vEgo)
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elif self.long_control_state == LongCtrlState.pid:
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self.v_pid = v_target_now
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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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# TODO too complex, needs to be simplified and tested on toyotas
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prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
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deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
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freeze_integrator = prevent_overshoot
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error = self.v_pid - CS.vEgo
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error_deadzone = apply_deadzone(error, deadzone)
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output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
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feedforward=a_target,
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freeze_integrator=freeze_integrator)
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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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