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28 lines
956 B
28 lines
956 B
from cereal import log
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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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MIN_SPEED = 1.0
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CONTROL_N = 17
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CAR_ROTATION_RADIUS = 0.0
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# EU guidelines
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MAX_LATERAL_JERK = 5.0
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MAX_VEL_ERR = 5.0
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def clip_curvature(v_ego, prev_curvature, new_curvature):
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v_ego = max(MIN_SPEED, v_ego)
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max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
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safe_desired_curvature = clip(new_curvature,
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prev_curvature - max_curvature_rate * DT_CTRL,
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prev_curvature + max_curvature_rate * DT_CTRL)
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return safe_desired_curvature
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def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
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# ToDo: Try relative error, and absolute speed
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if len(modelV2.velocity.x):
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vel_err = clip(modelV2.velocity.x[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
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return float(vel_err)
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return 0.0
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