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