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212 lines
7.9 KiB
212 lines
7.9 KiB
import math
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from cereal import car, log
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from common.conversions import Conversions as CV
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from common.numpy_fast import clip, interp
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from common.realtime import DT_MDL
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from selfdrive.modeld.constants import T_IDXS
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# WARNING: this value was determined based on the model's training distribution,
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# model predictions above this speed can be unpredictable
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# V_CRUISE's are in kph
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V_CRUISE_MIN = 8
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V_CRUISE_MAX = 145
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V_CRUISE_UNSET = 255
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V_CRUISE_INITIAL = 40
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V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
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IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors
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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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ButtonEvent = car.CarState.ButtonEvent
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ButtonType = car.CarState.ButtonEvent.Type
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CRUISE_LONG_PRESS = 50
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CRUISE_NEAREST_FUNC = {
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ButtonType.accelCruise: math.ceil,
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ButtonType.decelCruise: math.floor,
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}
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CRUISE_INTERVAL_SIGN = {
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ButtonType.accelCruise: +1,
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ButtonType.decelCruise: -1,
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}
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class VCruiseHelper:
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def __init__(self, CP):
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self.CP = CP
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self.v_cruise_kph = V_CRUISE_UNSET
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self.v_cruise_cluster_kph = V_CRUISE_UNSET
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self.v_cruise_kph_last = 0
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self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
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self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
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@property
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def v_cruise_initialized(self):
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return self.v_cruise_kph != V_CRUISE_UNSET
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def update_v_cruise(self, CS, enabled, is_metric):
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self.v_cruise_kph_last = self.v_cruise_kph
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if CS.cruiseState.available:
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if not self.CP.pcmCruise:
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# if stock cruise is completely disabled, then we can use our own set speed logic
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self._update_v_cruise_non_pcm(CS, enabled, is_metric)
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self.v_cruise_cluster_kph = self.v_cruise_kph
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self.update_button_timers(CS, enabled)
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else:
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self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
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self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
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else:
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self.v_cruise_kph = V_CRUISE_UNSET
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self.v_cruise_cluster_kph = V_CRUISE_UNSET
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def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
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# handle button presses. TODO: this should be in state_control, but a decelCruise press
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# would have the effect of both enabling and changing speed is checked after the state transition
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if not enabled:
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return
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long_press = False
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button_type = None
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v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
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for b in CS.buttonEvents:
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if b.type.raw in self.button_timers and not b.pressed:
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if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
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return # end long press
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button_type = b.type.raw
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break
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else:
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for k in self.button_timers.keys():
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if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
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button_type = k
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long_press = True
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break
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if button_type is None:
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return
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# Don't adjust speed when pressing resume to exit standstill
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cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill
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if button_type == ButtonType.accelCruise and cruise_standstill:
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return
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# Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge)
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if not self.button_change_states[button_type]["enabled"]:
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return
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v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
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if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
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self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
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else:
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self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
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# If set is pressed while overriding, clip cruise speed to minimum of vEgo
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if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
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self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
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self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
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def update_button_timers(self, CS, enabled):
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# increment timer for buttons still pressed
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for k in self.button_timers:
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if self.button_timers[k] > 0:
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self.button_timers[k] += 1
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for b in CS.buttonEvents:
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if b.type.raw in self.button_timers:
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# Start/end timer and store current state on change of button pressed
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self.button_timers[b.type.raw] = 1 if b.pressed else 0
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self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
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def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
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# initializing is handled by the PCM
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if self.CP.pcmCruise:
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return
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initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and self.CP.openpilotLongitudinalControl else V_CRUISE_INITIAL
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# 250kph or above probably means we never had a set speed
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if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
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self.v_cruise_kph = self.v_cruise_kph_last
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else:
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self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
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self.v_cruise_cluster_kph = self.v_cruise_kph
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def apply_deadzone(error, deadzone):
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if error > deadzone:
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error -= deadzone
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elif error < - deadzone:
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error += deadzone
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else:
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error = 0.
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return error
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def apply_center_deadzone(error, deadzone):
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if (error > - deadzone) and (error < deadzone):
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error = 0.
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return error
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def rate_limit(new_value, last_value, dw_step, up_step):
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return clip(new_value, last_value + dw_step, last_value + up_step)
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def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
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if len(psis) != CONTROL_N:
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psis = [0.0]*CONTROL_N
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curvatures = [0.0]*CONTROL_N
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curvature_rates = [0.0]*CONTROL_N
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v_ego = max(MIN_SPEED, v_ego)
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# TODO this needs more thought, use .2s extra for now to estimate other delays
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delay = CP.steerActuatorDelay + .2
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# MPC can plan to turn the wheel and turn back before t_delay. This means
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# in high delay cases some corrections never even get commanded. So just use
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# psi to calculate a simple linearization of desired curvature
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current_curvature_desired = curvatures[0]
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psi = interp(delay, T_IDXS[:CONTROL_N], psis)
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average_curvature_desired = psi / (v_ego * delay)
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desired_curvature = 2 * average_curvature_desired - current_curvature_desired
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# This is the "desired rate of the setpoint" not an actual desired rate
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desired_curvature_rate = curvature_rates[0]
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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_rate = clip(desired_curvature_rate,
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-max_curvature_rate,
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max_curvature_rate)
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safe_desired_curvature = clip(desired_curvature,
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current_curvature_desired - max_curvature_rate * DT_MDL,
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current_curvature_desired + max_curvature_rate * DT_MDL)
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return safe_desired_curvature, safe_desired_curvature_rate
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def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
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friction_interp = interp(
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apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
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[-friction_threshold, friction_threshold],
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[-torque_params.friction, torque_params.friction]
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)
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friction = float(friction_interp) if friction_compensation else 0.0
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return friction
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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.temporalPose.trans):
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vel_err = clip(modelV2.temporalPose.trans[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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