231 lines
9.2 KiB
Python
231 lines
9.2 KiB
Python
import os
|
|
import math
|
|
from common.realtime import sec_since_boot, DT_MDL
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.controls.lib.lateral_mpc import libmpc_py
|
|
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
|
|
from selfdrive.controls.lib.lane_planner import LanePlanner
|
|
from selfdrive.config import Conversions as CV
|
|
import cereal.messaging as messaging
|
|
from cereal import log
|
|
|
|
LaneChangeState = log.PathPlan.LaneChangeState
|
|
LaneChangeDirection = log.PathPlan.LaneChangeDirection
|
|
|
|
LOG_MPC = os.environ.get('LOG_MPC', False)
|
|
|
|
LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
|
|
LANE_CHANGE_TIME_MAX = 10.
|
|
|
|
DESIRES = {
|
|
LaneChangeDirection.none: {
|
|
LaneChangeState.off: log.PathPlan.Desire.none,
|
|
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
|
|
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
|
|
},
|
|
LaneChangeDirection.left: {
|
|
LaneChangeState.off: log.PathPlan.Desire.none,
|
|
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
|
|
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
|
|
},
|
|
LaneChangeDirection.right: {
|
|
LaneChangeState.off: log.PathPlan.Desire.none,
|
|
LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
|
|
LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
|
|
},
|
|
}
|
|
|
|
def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
|
|
states[0].x = v_ego * delay
|
|
states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
|
|
return states
|
|
|
|
|
|
class PathPlanner():
|
|
def __init__(self, CP):
|
|
self.LP = LanePlanner()
|
|
|
|
self.last_cloudlog_t = 0
|
|
self.steer_rate_cost = CP.steerRateCost
|
|
|
|
self.setup_mpc()
|
|
self.solution_invalid_cnt = 0
|
|
self.path_offset_i = 0.0
|
|
self.lane_change_state = LaneChangeState.off
|
|
self.lane_change_timer = 0.0
|
|
self.prev_one_blinker = False
|
|
|
|
def setup_mpc(self):
|
|
self.libmpc = libmpc_py.libmpc
|
|
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
|
|
|
|
self.mpc_solution = libmpc_py.ffi.new("log_t *")
|
|
self.cur_state = libmpc_py.ffi.new("state_t *")
|
|
self.cur_state[0].x = 0.0
|
|
self.cur_state[0].y = 0.0
|
|
self.cur_state[0].psi = 0.0
|
|
self.cur_state[0].delta = 0.0
|
|
|
|
self.angle_steers_des = 0.0
|
|
self.angle_steers_des_mpc = 0.0
|
|
self.angle_steers_des_prev = 0.0
|
|
self.angle_steers_des_time = 0.0
|
|
|
|
def update(self, sm, pm, CP, VM):
|
|
v_ego = sm['carState'].vEgo
|
|
angle_steers = sm['carState'].steeringAngle
|
|
active = sm['controlsState'].active
|
|
|
|
angle_offset = sm['liveParameters'].angleOffset
|
|
|
|
# Run MPC
|
|
self.angle_steers_des_prev = self.angle_steers_des_mpc
|
|
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
|
|
curvature_factor = VM.curvature_factor(v_ego)
|
|
|
|
self.LP.parse_model(sm['model'])
|
|
|
|
# Lane change logic
|
|
lane_change_direction = LaneChangeDirection.none
|
|
one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
|
|
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
|
|
|
if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
|
|
self.lane_change_state = LaneChangeState.off
|
|
else:
|
|
if sm['carState'].leftBlinker:
|
|
lane_change_direction = LaneChangeDirection.left
|
|
elif sm['carState'].rightBlinker:
|
|
lane_change_direction = LaneChangeDirection.right
|
|
|
|
torque_applied = sm['carState'].steeringPressed and \
|
|
((sm['carState'].steeringTorque > 0 and lane_change_direction == LaneChangeDirection.left) or \
|
|
(sm['carState'].steeringTorque < 0 and lane_change_direction == LaneChangeDirection.right))
|
|
|
|
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
|
|
|
|
# State transitions
|
|
# off
|
|
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
|
|
self.lane_change_state = LaneChangeState.preLaneChange
|
|
|
|
# pre
|
|
elif self.lane_change_state == LaneChangeState.preLaneChange:
|
|
if not one_blinker or below_lane_change_speed:
|
|
self.lane_change_state = LaneChangeState.off
|
|
elif torque_applied:
|
|
self.lane_change_state = LaneChangeState.laneChangeStarting
|
|
|
|
# starting
|
|
elif self.lane_change_state == LaneChangeState.laneChangeStarting and lane_change_prob > 0.5:
|
|
self.lane_change_state = LaneChangeState.laneChangeFinishing
|
|
|
|
# finishing
|
|
elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2:
|
|
if one_blinker:
|
|
self.lane_change_state = LaneChangeState.preLaneChange
|
|
else:
|
|
self.lane_change_state = LaneChangeState.off
|
|
|
|
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
|
|
self.lane_change_timer = 0.0
|
|
else:
|
|
self.lane_change_timer += DT_MDL
|
|
|
|
self.prev_one_blinker = one_blinker
|
|
|
|
desire = DESIRES[lane_change_direction][self.lane_change_state]
|
|
|
|
# Turn off lanes during lane change
|
|
if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
|
|
self.LP.l_prob = 0.
|
|
self.LP.r_prob = 0.
|
|
self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
|
|
else:
|
|
self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
|
|
|
|
self.LP.update_d_poly(v_ego)
|
|
|
|
|
|
# TODO: Check for active, override, and saturation
|
|
# if active:
|
|
# self.path_offset_i += self.LP.d_poly[3] / (60.0 * 20.0)
|
|
# self.path_offset_i = clip(self.path_offset_i, -0.5, 0.5)
|
|
# self.LP.d_poly[3] += self.path_offset_i
|
|
# else:
|
|
# self.path_offset_i = 0.0
|
|
|
|
# account for actuation delay
|
|
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)
|
|
|
|
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
|
|
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
|
|
list(self.LP.l_poly), list(self.LP.r_poly), list(self.LP.d_poly),
|
|
self.LP.l_prob, self.LP.r_prob, curvature_factor, v_ego_mpc, self.LP.lane_width)
|
|
|
|
# reset to current steer angle if not active or overriding
|
|
if active:
|
|
delta_desired = self.mpc_solution[0].delta[1]
|
|
rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
|
|
else:
|
|
delta_desired = math.radians(angle_steers - angle_offset) / VM.sR
|
|
rate_desired = 0.0
|
|
|
|
self.cur_state[0].delta = delta_desired
|
|
|
|
self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset)
|
|
|
|
# Check for infeasable MPC solution
|
|
mpc_nans = any(math.isnan(x) for x in self.mpc_solution[0].delta)
|
|
t = sec_since_boot()
|
|
if mpc_nans:
|
|
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
|
|
self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / VM.sR
|
|
|
|
if t > self.last_cloudlog_t + 5.0:
|
|
self.last_cloudlog_t = t
|
|
cloudlog.warning("Lateral mpc - nan: True")
|
|
|
|
if self.mpc_solution[0].cost > 20000. or mpc_nans: # TODO: find a better way to detect when MPC did not converge
|
|
self.solution_invalid_cnt += 1
|
|
else:
|
|
self.solution_invalid_cnt = 0
|
|
plan_solution_valid = self.solution_invalid_cnt < 2
|
|
|
|
plan_send = messaging.new_message()
|
|
plan_send.init('pathPlan')
|
|
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
|
|
plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
|
|
plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
|
|
plan_send.pathPlan.lPoly = [float(x) for x in self.LP.l_poly]
|
|
plan_send.pathPlan.lProb = float(self.LP.l_prob)
|
|
plan_send.pathPlan.rPoly = [float(x) for x in self.LP.r_poly]
|
|
plan_send.pathPlan.rProb = float(self.LP.r_prob)
|
|
|
|
plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
|
|
plan_send.pathPlan.rateSteers = float(rate_desired)
|
|
plan_send.pathPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
|
|
plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
|
|
plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
|
|
plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
|
|
plan_send.pathPlan.posenetValid = bool(sm['liveParameters'].posenetValid)
|
|
|
|
plan_send.pathPlan.desire = desire
|
|
plan_send.pathPlan.laneChangeState = self.lane_change_state
|
|
plan_send.pathPlan.laneChangeDirection = lane_change_direction
|
|
|
|
pm.send('pathPlan', plan_send)
|
|
|
|
if LOG_MPC:
|
|
dat = messaging.new_message()
|
|
dat.init('liveMpc')
|
|
dat.liveMpc.x = list(self.mpc_solution[0].x)
|
|
dat.liveMpc.y = list(self.mpc_solution[0].y)
|
|
dat.liveMpc.psi = list(self.mpc_solution[0].psi)
|
|
dat.liveMpc.delta = list(self.mpc_solution[0].delta)
|
|
dat.liveMpc.cost = self.mpc_solution[0].cost
|
|
pm.send('liveMpc', dat)
|