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adapt lat_control_steer_model to use controls_list = ['can_cmds', 'can_cmds_squared', 'cmds_by_vsquared'], live_param_list = ['roll', 'speed_times_roll', 'roll_squared', 'roll_by_speed']

steering_model
Jonathan Frey 2022-02-17 14:39:39 +01:00
parent bf2406b2e3
commit fc3343788f
1 changed files with 16 additions and 8 deletions
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24
selfdrive/controls/lib/latcontrol_steer_model.py
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@ -8,8 +8,12 @@ from common.realtime import DT_CTRL
from common.numpy_fast import clip
NX = 2
NU = 2
N_live_param = 1
controls_list = ['can_cmds', 'can_cmds_squared', 'cmds_by_vsquared']
NU = len(controls_list)
live_param_list = ['roll', 'speed_times_roll', 'roll_squared', 'roll_by_speed']
N_live_param = len(live_param_list)
class LatControlSteerModel(LatControl):
@ -44,9 +48,9 @@ class LatControlSteerModel(LatControl):
angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
# live_param_list = ['roll', 'speeds', 'speed_squared', 'speed_times_roll']
# live_param = np.array([params.roll, CS.vEgo, CS.vEgo ** 2, CS.vEgo * params.roll])
live_param = np.array([params.roll])
# TODO
# live_param_list = ['roll', 'speed_times_roll', 'roll_squared', 'roll_by_speed'] #, 'speed_times_angle']
live_param = np.array([params.roll, CS.vEgo * params.roll, params.roll * abs(params.roll), params.roll / CS.vEgo])
model_log.steeringAngleDesiredDeg = angle_steers_des
@ -70,7 +74,9 @@ 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)])
# TODO!
du_dtorque = np.array([1, 2*np.abs(self.torque), 1/(CS.vEgo**2)])
B_tilde = self.B @ du_dtorque
Phi = (DT_CTRL * B_tilde).reshape((2,1))
M_tilde = - 1/(Phi.T @ self.W @ Phi) * (Phi.T@self.W)
@ -78,7 +84,7 @@ class LatControlSteerModel(LatControl):
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!
# Note: meybe remove clipping later, good for prototype testing!
# When removing, use last_actuators instead of self.torque to update xcurrent
STEER_DELTA_UP = 10/1500 # 1.5s time to peak torque
STEER_DELTA_DOWN = 25/1500
@ -91,7 +97,9 @@ 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 @ np.array([output_steer, output_steer *abs(output_steer)])))
# TODO
u = np.array([output_steer, output_steer*abs(output_steer), output_steer/(CS.vEgo**2)])
self.xcurrent = self.xcurrent + DT_CTRL * (AxplusRp + (self.B @ u))
# self.xcurrent = self.xcurrent + DT_CTRL * (AxplusRp + (self.B * output_steer))
self.torque = output_steer