spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Longcontrol: remove starting state (#23328) 

* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
pull/23404/head
Shane Smiskol 2022-01-04 16:40:39 -07:00 committed by GitHub
parent 0357cf2af0
commit cf9792dc53
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 8 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cereal

@ -1 +1 @@
Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4
Subproject commit 70aeecf0930376a9da236b6f274941488e593063

3
selfdrive/car/honda/carcontroller.py
View File

@ -168,7 +168,6 @@ class CarController():
lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
stopping = actuators.longControlState == LongCtrlState.stopping
starting = actuators.longControlState == LongCtrlState.starting
# wind brake from air resistance decel at high speed
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@ -218,7 +217,7 @@ class CarController():
if CS.CP.carFingerprint in HONDA_BOSCH:
self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, starting, CS.CP.carFingerprint))
can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))

4
selfdrive/car/honda/hondacan.py
View File

@ -43,7 +43,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
commands = []
bus = get_pt_bus(car_fingerprint)
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@ -53,7 +53,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, star
accel_command = accel if active else 0
braking = 1 if active and accel < min_gas_accel else 0
standstill = 1 if active and stopping else 0
standstill_release = 1 if active and starting else 0
standstill_release = 1 if active and not stopping else 0
acc_control_values = {
# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1

1
selfdrive/car/hyundai/interface.py
View File

@ -41,7 +41,6 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
ret.stopAccel = 0.0
ret.startAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 1.0 # s

2
selfdrive/car/interfaces.py
View File

@ -84,9 +84,7 @@ class CarInterfaceBase(ABC):
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
ret.openpilotLongitudinalControl = False
ret.startAccel = -0.8
ret.stopAccel = -2.0
ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation

1
selfdrive/car/tesla/interface.py
View File

@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [0]
ret.longitudinalTuning.kiV = [0]
ret.stopAccel = 0.0
ret.startAccel = 0.0
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.radarTimeStep = (1.0 / 8) # 8Hz

1
selfdrive/car/toyota/interface.py
View File

@ -247,7 +247,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in TSS2_CAR:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.startingAccelRate = 6.0 # release brakes fast
else:
set_long_tune(ret.longitudinalTuning, LongTunes.TSS)

18
selfdrive/controls/lib/longcontrol.py
View File

@ -13,7 +13,7 @@ ACCEL_MAX_ISO = 2.0 # m/s^2
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
output_accel, brake_pressed, cruise_standstill):
brake_pressed, cruise_standstill):
"""Update longitudinal control state machine"""
stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
(v_ego < CP.vEgoStopping and
@ -35,12 +35,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_fut
elif long_control_state == LongCtrlState.stopping:
if starting_condition:
long_control_state = LongCtrlState.starting
elif long_control_state == LongCtrlState.starting:
if stopping_condition:
long_control_state = LongCtrlState.stopping
elif output_accel >= CP.startAccel:
long_control_state = LongCtrlState.pid
return long_control_state
@ -88,8 +82,8 @@ class LongControl():
# Update state machine
output_accel = self.last_output_accel
self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
v_target_future, output_accel,
CS.brakePressed, CS.cruiseState.standstill)
v_target_future, CS.brakePressed,
CS.cruiseState.standstill)
if self.long_control_state == LongCtrlState.off or CS.gasPressed:
self.reset(CS.vEgo)
@ -118,12 +112,6 @@ class LongControl():
output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
self.reset(CS.vEgo)
# Intention is to move again, release brake fast before handing control to PID
elif self.long_control_state == LongCtrlState.starting:
if output_accel < CP.startAccel:
output_accel += CP.startingAccelRate * DT_CTRL
self.reset(CS.vEgo)
self.last_output_accel = output_accel
final_accel = clip(output_accel, accel_limits[0], accel_limits[1])

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
e0ac3ca09baaf0d791d0e7734799bb297ad91f79
05ebb83207d2c949ee70702e4ec4568f872c6054