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latcontrol_steer_model: variant with u*abs(u)

steering_model
Jonathan Frey 2022-02-16 16:06:40 +01:00
parent 094018cf62
commit bf2406b2e3
1 changed files with 11 additions and 7 deletions
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18
selfdrive/controls/lib/latcontrol_steer_model.py
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@ -8,7 +8,7 @@ from common.realtime import DT_CTRL
from common.numpy_fast import clip
NX = 2
NU = 1
NU = 2
N_live_param = 1
@ -21,14 +21,13 @@ class LatControlSteerModel(LatControl):
model_param = np.asarray(list(CP.lateralTuning.steerModel.modelparam))
self.A = model_param[0:NX*NX].reshape((NX, NX), order='F')
B = model_param[NX*NX:NX*(NX+NU)].reshape((NX, NU), order='F')
self.B = model_param[NX*NX:NX*(NX+NU)].reshape((NX, NU), order='F')
self.R = model_param[NX*(NX+NU):].reshape((NX, N_live_param), order='F')
# self.M = - np.linalg.solve(B.T @ B, B.T)
self.B = B.reshape((NX,))
self.W = np.diag([1e0, 1e-1])
Phi = (DT_CTRL * self.B).reshape((2,1))
self.M_tilde = - 1/(Phi.T @ self.W @ Phi) * (Phi.T@self.W)
# self.PHI = (DT_CTRL * self.B).reshape((2,1))
# self.M_tilde = - 1/(self.PHI.T @ self.W @ self.PHI) * (self.PHI.T@self.W)
self.torque = 0.0
def reset(self):
@ -71,8 +70,12 @@ class LatControlSteerModel(LatControl):
desired_angle_rate = math.degrees(VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, params.roll))
# torque = argmin norm(xcurrent + DT_CTRL * (A*xcurrent + R*live_param + B*u) - [desired_angle, desired_angle_rate])_W
B_tilde = self.B @ np.array([1, 2*np.abs(self.torque)])
Phi = (DT_CTRL * B_tilde).reshape((2,1))
M_tilde = - 1/(Phi.T @ self.W @ Phi) * (Phi.T@self.W)
AxplusRp = (self.A @ self.xcurrent + self.R @ live_param)
torque_np = self.M_tilde @ (self.xcurrent -
torque_np = M_tilde @ (self.xcurrent -
np.array([angle_steers_des_no_offset, desired_angle_rate]) + DT_CTRL * AxplusRp).reshape((2,1))
# TODO: remove clipping later, good for prototype testing!
@ -88,7 +91,8 @@ class LatControlSteerModel(LatControl):
output_steer = float(clip(torque_np, -1.0, 1.0))
# update state estimate with forward simulation
self.xcurrent = self.xcurrent + DT_CTRL * (AxplusRp + (self.B * output_steer))
self.xcurrent = self.xcurrent + DT_CTRL * (AxplusRp + (self.B @ np.array([output_steer, output_steer *abs(output_steer)])))
# self.xcurrent = self.xcurrent + DT_CTRL * (AxplusRp + (self.B * output_steer))
self.torque = output_steer
model_log.active = True