118 lines
4.2 KiB
Python
118 lines
4.2 KiB
Python
import math
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from cereal import car
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from common.numpy_fast import clip, interp
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from common.realtime import DT_MDL
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from common.conversions import Conversions as CV
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from selfdrive.modeld.constants import T_IDXS
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# WARNING: this value was determined based on the model's training distribution,
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# model predictions above this speed can be unpredictable
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V_CRUISE_MAX = 145 # kph
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V_CRUISE_MIN = 8 # kph
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V_CRUISE_ENABLE_MIN = 40 # kph
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LAT_MPC_N = 16
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LON_MPC_N = 32
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CONTROL_N = 17
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CAR_ROTATION_RADIUS = 0.0
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# this corresponds to 80deg/s and 20deg/s steering angle in a toyota corolla
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MAX_CURVATURE_RATES = [0.03762194918267951, 0.003441203371932992]
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MAX_CURVATURE_RATE_SPEEDS = [0, 35]
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CRUISE_LONG_PRESS = 50
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CRUISE_NEAREST_FUNC = {
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car.CarState.ButtonEvent.Type.accelCruise: math.ceil,
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car.CarState.ButtonEvent.Type.decelCruise: math.floor,
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}
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CRUISE_INTERVAL_SIGN = {
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car.CarState.ButtonEvent.Type.accelCruise: +1,
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car.CarState.ButtonEvent.Type.decelCruise: -1,
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}
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class MPC_COST_LAT:
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PATH = 1.0
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HEADING = 1.0
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STEER_RATE = 1.0
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def rate_limit(new_value, last_value, dw_step, up_step):
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return clip(new_value, last_value + dw_step, last_value + up_step)
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def get_steer_max(CP, v_ego):
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return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
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def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
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# handle button presses. TODO: this should be in state_control, but a decelCruise press
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# would have the effect of both enabling and changing speed is checked after the state transition
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if not enabled:
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return v_cruise_kph
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long_press = False
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button_type = None
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v_cruise_delta = 1 if metric else 1.6
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for b in buttonEvents:
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if b.type.raw in button_timers and not b.pressed:
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if button_timers[b.type.raw] > CRUISE_LONG_PRESS:
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return v_cruise_kph # end long press
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button_type = b.type.raw
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break
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else:
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for k in button_timers.keys():
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if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0:
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button_type = k
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long_press = True
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break
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if button_type:
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v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
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if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval
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v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta
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else:
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v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
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v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
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return v_cruise_kph
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def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
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for b in buttonEvents:
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# 250kph or above probably means we never had a set speed
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if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
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return v_cruise_last
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return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
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def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
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if len(psis) != CONTROL_N:
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psis = [0.0 for i in range(CONTROL_N)]
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curvatures = [0.0 for i in range(CONTROL_N)]
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curvature_rates = [0.0 for i in range(CONTROL_N)]
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# TODO this needs more thought, use .2s extra for now to estimate other delays
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delay = CP.steerActuatorDelay + .2
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current_curvature = curvatures[0]
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psi = interp(delay, T_IDXS[:CONTROL_N], psis)
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desired_curvature_rate = curvature_rates[0]
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# MPC can plan to turn the wheel and turn back before t_delay. This means
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# in high delay cases some corrections never even get commanded. So just use
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# psi to calculate a simple linearization of desired curvature
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curvature_diff_from_psi = psi / (max(v_ego, 1e-1) * delay) - current_curvature
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desired_curvature = current_curvature + 2 * curvature_diff_from_psi
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max_curvature_rate = interp(v_ego, MAX_CURVATURE_RATE_SPEEDS, MAX_CURVATURE_RATES)
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safe_desired_curvature_rate = clip(desired_curvature_rate,
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-max_curvature_rate,
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max_curvature_rate)
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safe_desired_curvature = clip(desired_curvature,
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current_curvature - max_curvature_rate * DT_MDL,
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current_curvature + max_curvature_rate * DT_MDL)
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return safe_desired_curvature, safe_desired_curvature_rate
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