Chiiil

cereal

@@ -1 +1 @@
-Subproject commit e94649e0ed1f70fe5c74c3700a9330b878606101
+Subproject commit b54fa0f921eb809b4550703eb7a34597934da8a1

selfdrive/car/toyota/interface.py

@@ -35,7 +35,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
 
-      set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
+      set_lat_tune(ret.lateralTuning, LatTunes.CRAYCRAY_PRIUS)
       ret.steerActuatorDelay = 0.3
 
     elif candidate == CAR.PRIUS_V:

selfdrive/car/toyota/tunes.py

@@ -8,7 +8,7 @@ class LongTunes(Enum):
   TSS = 2
 
 class LatTunes(Enum):
-  INDI_PRIUS = 0
+  CRAYCRAY_PRIUS = 0
   LQR_RAV4 = 1
   PID_A = 2
   PID_B = 3
@@ -50,16 +50,14 @@ def set_long_tune(tune, name):
 
 ###### LAT ######
 def set_lat_tune(tune, name):
-  if name == LatTunes.INDI_PRIUS:
-    tune.init('indi')
-    tune.indi.innerLoopGainBP = [0.]
-    tune.indi.innerLoopGainV = [4.0]
-    tune.indi.outerLoopGainBP = [0.]
-    tune.indi.outerLoopGainV = [3.0]
-    tune.indi.timeConstantBP = [0.]
-    tune.indi.timeConstantV = [1.0]
-    tune.indi.actuatorEffectivenessBP = [0.]
-    tune.indi.actuatorEffectivenessV = [1.0]
+  if name == LatTunes.CRAYCRAY_PRIUS:
+    tune.init('craycray')
+    tune.craycray.kiBP = [0.0]
+    tune.craycray.kpBP = [0.0]
+    MAX_TORQUE = 1.5
+    tune.craycray.kpV = [2.0/MAX_TORQUE]
+    tune.craycray.kiV = [0.025/MAX_TORQUE]
+    tune.craycray.kf = 0.5 / MAX_TORQUE
 
   elif name == LatTunes.LQR_RAV4:
     tune.init('lqr')

selfdrive/car/toyota/values.py

@@ -18,7 +18,7 @@ class CarControllerParams:
   ACCEL_MIN = -3.5  # m/s2
 
   STEER_MAX = 1500
-  STEER_DELTA_UP = 10       # 1.5s time to peak torque
+  STEER_DELTA_UP = 15       # 1.0s time to peak torque
   STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 

selfdrive/controls/controlsd.py

@@ -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_craycray import LatControlCrayCray
 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
@@ -135,6 +136,8 @@ class Controls:
       self.LaC = LatControlINDI(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'lqr':
       self.LaC = LatControlLQR(self.CP, self.CI)
+    elif self.CP.lateralTuning.which() == 'craycray':
+      self.LaC = LatControlCrayCray(self.CP, self.CI)
 
     self.initialized = False
     self.state = State.disabled
@@ -518,7 +521,7 @@ class Controls:
                                                                              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)
+                                                                             desired_curvature_rate, self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:

selfdrive/controls/lib/latcontrol.py

@@ -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, desired_curvature, desired_curvature_rate, llk):
     pass
 
   def reset(self):

selfdrive/controls/lib/latcontrol_angle.py

@@ -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, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if CS.vEgo < MIN_STEER_SPEED or not active:

selfdrive/controls/lib/latcontrol_craycray.py

@@ -0,0 +1,58 @@
+from selfdrive.controls.lib.pid import PIController
+from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from cereal import log
+
+CURVATURE_SCALE = 200
+
+
+class LatControlCrayCray(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.pid = PIController((CP.lateralTuning.craycray.kpBP, CP.lateralTuning.craycray.kpV),
+                            (CP.lateralTuning.craycray.kiBP, CP.lateralTuning.craycray.kiV),
+                            k_f=CP.lateralTuning.craycray.kf, pos_limit=1.0, neg_limit=-1.0)
+    self.get_steer_feedforward = CI.get_steer_feedforward_function()
+    self.steer_max = 1.0
+    self.pid.pos_limit = self.steer_max
+    self.pid.neg_limit = -self.steer_max
+    self.use_steering_angle = False
+
+  def reset(self):
+    super().reset()
+    self.pid.reset()
+
+  def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+    pid_log = log.ControlsState.LateralPIDState.new_message()
+    pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
+    pid_log.steeringRateDeg = float(CS.steeringRateDeg)
+
+    #pid_log.steeringAngleDesiredDeg = angle_steers_des
+    #pid_log.angleError = angle_steers_des - CS.steeringAngleDeg
+    if CS.vEgo < MIN_STEER_SPEED or not active:
+      output_torque = 0.0
+      pid_log.active = False
+      self.pid.reset()
+    else:
+      # TODO lateral acceleration works great at high speed, not so much at low speed
+      if self.use_steering_angle:
+        actual_curvature = VM.calc_curvature(-(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+      else:
+        actual_curvature = llk.angularVelocityCalibrated.value[2] / CS.vEgo
+      desired_lateral_accel = desired_curvature * CS.vEgo**2
+      actual_lateral_accel = actual_curvature * CS.vEgo**2
+
+      setpoint = desired_lateral_accel + CURVATURE_SCALE * desired_curvature
+      measurement = actual_lateral_accel + CURVATURE_SCALE * actual_curvature
+
+      output_torque = self.pid.update(setpoint, measurement, override=CS.steeringPressed,
+                                      feedforward=desired_lateral_accel, speed=CS.vEgo)
+      pid_log.active = True
+      pid_log.p = self.pid.p
+      pid_log.i = self.pid.i
+      pid_log.f = self.pid.f
+      #TODO left is positive in this log
+      pid_log.output = -output_torque
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
+
+    #TODO left is positive in this convention
+    return -output_torque, 0.0, pid_log

selfdrive/controls/lib/latcontrol_indi.py

@@ -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, desired_curvature, desired_curvature_rate, llk):
     self.speed = CS.vEgo
     # Update Kalman filter
     y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])

selfdrive/controls/lib/latcontrol_lqr.py

@@ -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, desired_curvature, desired_curvature_rate, llk):
     lqr_log = log.ControlsState.LateralLQRState.new_message()
 
     steers_max = get_steer_max(CP, CS.vEgo)

selfdrive/controls/lib/latcontrol_pid.py

@@ -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, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)