140 lines
5.5 KiB
Python
140 lines
5.5 KiB
Python
from cereal import car
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from common.numpy_fast import clip, interp
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from selfdrive.controls.lib.pid import PIController
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from selfdrive.controls.lib.drive_helpers import CONTROL_N
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from selfdrive.modeld.constants import T_IDXS
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LongCtrlState = car.CarControl.Actuators.LongControlState
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STOPPING_EGO_SPEED = 0.5
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STOPPING_TARGET_SPEED_OFFSET = 0.01
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STARTING_TARGET_SPEED = 0.5
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DECEL_THRESHOLD_TO_PID = 0.8
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DECEL_STOPPING_TARGET = 2.0 # apply at least this amount of brake to maintain the vehicle stationary
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RATE = 100.0
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# As per ISO 15622:2018 for all speeds
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ACCEL_MIN_ISO = -3.5 # m/s^2
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ACCEL_MAX_ISO = 2.0 # m/s^2
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# TODO this logic isn't really car independent, does not belong here
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def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
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output_accel, brake_pressed, cruise_standstill, min_speed_can):
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"""Update longitudinal control state machine"""
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stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
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stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
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(v_ego < STOPPING_EGO_SPEED and
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((v_pid < stopping_target_speed and v_target < stopping_target_speed) or
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brake_pressed))
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starting_condition = v_target > STARTING_TARGET_SPEED and not cruise_standstill
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if not active:
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long_control_state = LongCtrlState.off
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else:
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if long_control_state == LongCtrlState.off:
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if active:
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long_control_state = LongCtrlState.pid
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elif long_control_state == LongCtrlState.pid:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif long_control_state == LongCtrlState.stopping:
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if starting_condition:
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long_control_state = LongCtrlState.starting
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elif long_control_state == LongCtrlState.starting:
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if stopping_condition:
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long_control_state = LongCtrlState.stopping
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elif output_accel >= -DECEL_THRESHOLD_TO_PID:
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long_control_state = LongCtrlState.pid
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return long_control_state
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class LongControl():
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def __init__(self, CP):
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self.long_control_state = LongCtrlState.off # initialized to off
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self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
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(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
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rate=RATE,
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sat_limit=0.8)
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self.v_pid = 0.0
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self.last_output_accel = 0.0
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def reset(self, v_pid):
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"""Reset PID controller and change setpoint"""
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self.pid.reset()
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self.v_pid = v_pid
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def update(self, active, CS, CP, long_plan, accel_limits):
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"""Update longitudinal control. This updates the state machine and runs a PID loop"""
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# Interp control trajectory
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# TODO estimate car specific lag, use .15s for now
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if len(long_plan.speeds) == CONTROL_N:
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v_target = interp(CP.longitudinalActuatorDelay, T_IDXS[:CONTROL_N], long_plan.speeds)
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v_target_future = long_plan.speeds[-1]
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a_target = 2 * (v_target - long_plan.speeds[0])/CP.longitudinalActuatorDelay - long_plan.accels[0]
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else:
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v_target = 0.0
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v_target_future = 0.0
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a_target = 0.0
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# TODO: This check is not complete and needs to be enforced by MPC
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a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO)
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self.pid.neg_limit = accel_limits[0]
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self.pid.pos_limit = accel_limits[1]
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# Update state machine
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output_accel = self.last_output_accel
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self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,
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v_target_future, self.v_pid, output_accel,
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CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
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v_ego_pid = max(CS.vEgo, CP.minSpeedCan) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
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if self.long_control_state == LongCtrlState.off or CS.gasPressed:
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self.reset(v_ego_pid)
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output_accel = 0.
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# tracking objects and driving
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elif self.long_control_state == LongCtrlState.pid:
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self.v_pid = v_target
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# Toyota starts braking more when it thinks you want to stop
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# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
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prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
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deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
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freeze_integrator = prevent_overshoot
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output_accel = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=freeze_integrator)
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if prevent_overshoot:
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output_accel = min(output_accel, 0.0)
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# Intention is to stop, switch to a different brake control until we stop
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elif self.long_control_state == LongCtrlState.stopping:
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# Keep applying brakes until the car is stopped
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if not CS.standstill or output_accel > -DECEL_STOPPING_TARGET:
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output_accel -= CP.stoppingDecelRate / RATE
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output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
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self.reset(CS.vEgo)
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# Intention is to move again, release brake fast before handing control to PID
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elif self.long_control_state == LongCtrlState.starting:
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if output_accel < -DECEL_THRESHOLD_TO_PID:
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output_accel += CP.startingAccelRate / RATE
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self.reset(CS.vEgo)
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self.last_output_accel = output_accel
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final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
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return final_accel
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