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controls: add curvature based steer control type

pull/23331/head
Cameron Clough 2022-01-23 01:44:40 +00:00
parent 8af20af66d
commit e3e0c93398
No known key found for this signature in database
GPG Key ID: BFB3B74B026ED43F
8 changed files with 61 additions and 14 deletions
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2
selfdrive/car/tests/test_car_interfaces.py
View File

@ -34,7 +34,7 @@ class TestCarInterfaces(unittest.TestCase):
self.assertGreater(car_params.mass, 1)
self.assertGreater(car_params.steerRateCost, 1e-3)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
if car_params.steerControlType not in (car.CarParams.SteerControlType.angle, car.CarParams.SteerControlType.curvature):
tuning = car_params.lateralTuning.which()
if tuning == 'pid':
self.assertTrue(len(car_params.lateralTuning.pid.kpV))

17
selfdrive/controls/controlsd.py
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@ -21,6 +21,7 @@ from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
from selfdrive.controls.lib.events import Events, ET
from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -129,6 +130,8 @@ class Controls:
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP, self.CI)
elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
self.LaC = LatControlCurvature(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
@ -516,9 +519,11 @@ class Controls:
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM,
params, self.last_actuators, desired_curvature,
desired_curvature_rate)
actuators.steer, actuators.steeringAngleDeg, \
actuators.curvature, actuators.curvatureRate, \
actuators.pathAngle, actuators.pathDeviation, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM,
params, self.last_actuators, lat_plan,
desired_curvature, desired_curvature_rate)
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
@ -528,7 +533,9 @@ class Controls:
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
# max angle is 45 for angle-based cars
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
steer_angle = steer * 45.
curvature = self.VM.calc_curvature(math.radians(steer_angle), CS.vEgo, params.roll)
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer_angle, curvature
lac_log.active = self.active
lac_log.steeringAngleDeg = CS.steeringAngleDeg
@ -680,6 +687,8 @@ class Controls:
controlsState.lateralControlState.debugState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
controlsState.lateralControlState.curvatureState = lac_log
elif lat_tuning == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'lqr':

2
selfdrive/controls/lib/latcontrol.py
View File

@ -13,7 +13,7 @@ class LatControl(ABC):
self.sat_count = 0.
@abstractmethod
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
pass
def reset(self):

4
selfdrive/controls/lib/latcontrol_angle.py
View File

@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl):
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
angle_log = log.ControlsState.LateralAngleState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active:
@ -22,4 +22,4 @@ class LatControlAngle(LatControl):
angle_log.saturated = self._check_saturation(angle_control_saturated, CS)
angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
angle_log.steeringAngleDesiredDeg = angle_steers_des
return 0, float(angle_steers_des), angle_log
return 0, float(angle_steers_des), 0, 0, 0, 0, angle_log

38
selfdrive/controls/lib/latcontrol_curvature.py 100644
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@ -0,0 +1,38 @@
import math
from cereal import log
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
class LatControlCurvature(LatControl):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
curvature_log = log.ControlsState.LateralCurvatureState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active:
curvature_log.active = False
curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg), CS.vEgo, params.roll)
curvature_rate = 0
path_angle = 0
path_deviation = 0
else:
curvature_log.active = True
curvatures = lat_plan.curvatures
path_points = lat_plan.dPathPoints
# "road/lane curvature" is different from the immediate manoeuvre/path curvature
# later curvature values are probably closer to this "road curvature" value
curvature = -curvatures[6]
path_deviation = -path_points[0] if len(path_points) > 0 else 0
# TODO
curvature_rate = 0
path_angle = 0
# TODO: calculate saturated, like latcontrol_angle
curvature_log.saturated = False
curvature_log.curvature = curvature
curvature_log.curvatureRate = curvature_rate
curvature_log.pathAngle = path_angle
curvature_log.pathDeviation = path_deviation
return 0, 0, curvature, curvature_rate, path_angle, path_deviation, curvature_log

4
selfdrive/controls/lib/latcontrol_indi.py
View File

@ -65,7 +65,7 @@ class LatControlINDI(LatControl):
self.steer_filter.x = 0.
self.speed = 0.
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
self.speed = CS.vEgo
# Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
@ -119,4 +119,4 @@ class LatControlINDI(LatControl):
indi_log.output = float(output_steer)
indi_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
return float(output_steer), float(steers_des), indi_log
return float(output_steer), float(steers_des), 0, 0, 0, 0, indi_log

4
selfdrive/controls/lib/latcontrol_lqr.py
View File

@ -31,7 +31,7 @@ class LatControlLQR(LatControl):
super().reset()
self.i_lqr = 0.0
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
lqr_log = log.ControlsState.LateralLQRState.new_message()
steers_max = get_steer_max(CP, CS.vEgo)
@ -83,4 +83,4 @@ class LatControlLQR(LatControl):
lqr_log.output = output_steer
lqr_log.lqrOutput = lqr_output
lqr_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
return output_steer, desired_angle, lqr_log
return output_steer, desired_angle, 0, 0, 0, 0, lqr_log

4
selfdrive/controls/lib/latcontrol_pid.py
View File

@ -18,7 +18,7 @@ class LatControlPID(LatControl):
super().reset()
self.pid.reset()
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
def update(self, active, CS, CP, VM, params, last_actuators, lat_plan, desired_curvature, desired_curvature_rate):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@ -51,4 +51,4 @@ class LatControlPID(LatControl):
pid_log.output = output_steer
pid_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
return output_steer, angle_steers_des, pid_log
return output_steer, angle_steers_des, 0, 0, 0, 0, pid_log