61 lines
2.3 KiB
Python
61 lines
2.3 KiB
Python
import math
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import numpy as np
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from selfdrive.controls.lib.drive_helpers import get_steer_max
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from cereal import log
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from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
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controls_list = ['can_cmds_squared', 'cmds_by_vsquared', 'cmds_squared_by_vsquared']
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NU = len(controls_list)
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live_param_list = ['roll', 'roll_squared', 'roll_by_speed', 'roll_by_vsquared']
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N_live_param = len(live_param_list)
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class LatControlSteerModel(LatControl):
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def __init__(self, CP, CI):
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super().__init__(CP, CI)
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model_param = np.asarray(list(CP.lateralTuning.steerModel.modelparam))
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self.B = model_param[0:NU]
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self.R = model_param[NU:NU+N_live_param]
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assert(NU+N_live_param == len(model_param))
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def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
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model_log = log.ControlsState.LateralSteerModelState.new_message()
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steers_max = get_steer_max(CP, CS.vEgo)
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# offset does not contribute to resistive torque
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angle_steers_des_no_offset = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
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angle_steers_des = angle_steers_des_no_offset + params.angleOffsetDeg
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model_log.steeringAngleDesiredDeg = angle_steers_des
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if CS.vEgo < MIN_STEER_SPEED or not active:
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output_steer = 0.0
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model_log.active = False
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self.reset()
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else:
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# NOTE: live_param_list dependent.
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# live_param_list = ['roll', 'roll_squared', 'roll_by_speed', 'roll_by_vsquared']
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torque_prev = last_actuators.steer
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roll_deg = np.degrees(params.roll)
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live_param = np.array([roll_deg, roll_deg * abs(roll_deg), roll_deg / CS.vEgo, roll_deg/(CS.vEgo**2)])
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Rp = self.R @ live_param
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# NOTE: controls_list dependent.
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# controls_list = ['can_cmds_squared', 'cmds_by_vsquared', 'cmds_squared_by_vsquared']
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du_dtorque = np.array([2*abs(torque_prev), 1/(CS.vEgo**2), 2*abs(torque_prev)/(CS.vEgo**2) ])
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B_tilde = self.B @ du_dtorque
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output_steer = float( (1/B_tilde) * (angle_steers_des_no_offset - Rp) )
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model_log.active = True
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# model_log.steeringAngleDeg = float(self.xcurrent[0])
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model_log.output = output_steer
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model_log.saturated = self._check_saturation(steers_max - abs(output_steer) < 1e-3, CS)
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return output_steer, angle_steers_des, model_log
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