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restored INDI and LQR controller (disabled by default)
use dp_lat_controller params to force enable them
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Original file line number | Diff line number | Diff line change |
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import math | ||
import numpy as np | ||
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from cereal import log | ||
from common.filter_simple import FirstOrderFilter | ||
from common.numpy_fast import clip, interp | ||
from common.realtime import DT_CTRL | ||
from selfdrive.controls.lib.latcontrol import LatControl | ||
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class LatControlINDI(LatControl): | ||
def __init__(self, CP, CI): | ||
super().__init__(CP, CI) | ||
self.angle_steers_des = 0. | ||
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A = np.array([[1.0, DT_CTRL, 0.0], | ||
[0.0, 1.0, DT_CTRL], | ||
[0.0, 0.0, 1.0]]) | ||
C = np.array([[1.0, 0.0, 0.0], | ||
[0.0, 1.0, 0.0]]) | ||
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# Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) | ||
# R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) | ||
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# (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) | ||
# K = np.transpose(K) | ||
K = np.array([[7.30262179e-01, 2.07003658e-04], | ||
[7.29394177e+00, 1.39159419e-02], | ||
[1.71022442e+01, 3.38495381e-02]]) | ||
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self.speed = 0. | ||
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self.K = K | ||
self.A_K = A - np.dot(K, C) | ||
self.x = np.array([[0.], [0.], [0.]]) | ||
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self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV) | ||
self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV) | ||
self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV) | ||
self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV) | ||
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self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL) | ||
self.reset() | ||
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@property | ||
def RC(self): | ||
return interp(self.speed, self._RC[0], self._RC[1]) | ||
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@property | ||
def G(self): | ||
return interp(self.speed, self._G[0], self._G[1]) | ||
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@property | ||
def outer_loop_gain(self): | ||
return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1]) | ||
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@property | ||
def inner_loop_gain(self): | ||
return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1]) | ||
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def reset(self): | ||
super().reset() | ||
self.steer_filter.x = 0. | ||
self.speed = 0. | ||
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def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): | ||
self.speed = CS.vEgo | ||
# Update Kalman filter | ||
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) | ||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) | ||
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indi_log = log.ControlsState.LateralINDIState.new_message() | ||
indi_log.steeringAngleDeg = math.degrees(self.x[0]) | ||
indi_log.steeringRateDeg = math.degrees(self.x[1]) | ||
indi_log.steeringAccelDeg = math.degrees(self.x[2]) | ||
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steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll) | ||
steers_des += math.radians(params.angleOffsetDeg) | ||
indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) | ||
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# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature | ||
rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) | ||
indi_log.steeringRateDesiredDeg = math.degrees(rate_des) | ||
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if not active: | ||
indi_log.active = False | ||
self.steer_filter.x = 0.0 | ||
output_steer = 0 | ||
else: | ||
# Expected actuator value | ||
self.steer_filter.update_alpha(self.RC) | ||
self.steer_filter.update(last_actuators.steer) | ||
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# Compute acceleration error | ||
rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des | ||
accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) | ||
accel_error = accel_sp - self.x[2] | ||
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# Compute change in actuator | ||
g_inv = 1. / self.G | ||
delta_u = g_inv * accel_error | ||
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# If steering pressed, only allow wind down | ||
if CS.steeringPressed and (delta_u * last_actuators.steer > 0): | ||
delta_u = 0 | ||
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output_steer = self.steer_filter.x + delta_u | ||
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output_steer = clip(output_steer, -self.steer_max, self.steer_max) | ||
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indi_log.active = True | ||
indi_log.rateSetPoint = float(rate_sp) | ||
indi_log.accelSetPoint = float(accel_sp) | ||
indi_log.accelError = float(accel_error) | ||
indi_log.delayedOutput = float(self.steer_filter.x) | ||
indi_log.delta = float(delta_u) | ||
indi_log.output = float(output_steer) | ||
indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) | ||
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return float(output_steer), float(steers_des), indi_log |
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Original file line number | Diff line number | Diff line change |
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import math | ||
import numpy as np | ||
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from common.numpy_fast import clip | ||
from common.realtime import DT_CTRL | ||
from cereal import log | ||
from selfdrive.controls.lib.latcontrol import LatControl | ||
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class LatControlLQR(LatControl): | ||
def __init__(self, CP, CI): | ||
super().__init__(CP, CI) | ||
self.scale = CP.lateralTuning.lqr.scale | ||
self.ki = CP.lateralTuning.lqr.ki | ||
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self.A = np.array(CP.lateralTuning.lqr.a).reshape((2, 2)) | ||
self.B = np.array(CP.lateralTuning.lqr.b).reshape((2, 1)) | ||
self.C = np.array(CP.lateralTuning.lqr.c).reshape((1, 2)) | ||
self.K = np.array(CP.lateralTuning.lqr.k).reshape((1, 2)) | ||
self.L = np.array(CP.lateralTuning.lqr.l).reshape((2, 1)) | ||
self.dc_gain = CP.lateralTuning.lqr.dcGain | ||
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self.x_hat = np.array([[0], [0]]) | ||
self.i_unwind_rate = 0.3 * DT_CTRL | ||
self.i_rate = 1.0 * DT_CTRL | ||
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self.reset() | ||
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def reset(self): | ||
super().reset() | ||
self.i_lqr = 0.0 | ||
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def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): | ||
# def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate): | ||
lqr_log = log.ControlsState.LateralLQRState.new_message() | ||
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torque_scale = (0.45 + CS.vEgo / 60.0)**2 # Scale actuator model with speed | ||
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# Subtract offset. Zero angle should correspond to zero torque | ||
steering_angle_no_offset = CS.steeringAngleDeg - params.angleOffsetAverageDeg | ||
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desired_angle = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)) | ||
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instant_offset = params.angleOffsetDeg - params.angleOffsetAverageDeg | ||
desired_angle += instant_offset # Only add offset that originates from vehicle model errors | ||
lqr_log.steeringAngleDesiredDeg = desired_angle | ||
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# Update Kalman filter | ||
angle_steers_k = float(self.C.dot(self.x_hat)) | ||
e = steering_angle_no_offset - angle_steers_k | ||
self.x_hat = self.A.dot(self.x_hat) + self.B.dot(CS.steeringTorqueEps / torque_scale) + self.L.dot(e) | ||
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if not active: | ||
lqr_log.active = False | ||
lqr_output = 0. | ||
output_steer = 0. | ||
self.reset() | ||
else: | ||
lqr_log.active = True | ||
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# LQR | ||
u_lqr = float(desired_angle / self.dc_gain - self.K.dot(self.x_hat)) | ||
lqr_output = torque_scale * u_lqr / self.scale | ||
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# Integrator | ||
if CS.steeringPressed: | ||
self.i_lqr -= self.i_unwind_rate * float(np.sign(self.i_lqr)) | ||
else: | ||
error = desired_angle - angle_steers_k | ||
i = self.i_lqr + self.ki * self.i_rate * error | ||
control = lqr_output + i | ||
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if (error >= 0 and (control <= self.steer_max or i < 0.0)) or \ | ||
(error <= 0 and (control >= -self.steer_max or i > 0.0)): | ||
self.i_lqr = i | ||
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output_steer = lqr_output + self.i_lqr | ||
output_steer = clip(output_steer, -self.steer_max, self.steer_max) | ||
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lqr_log.steeringAngleDeg = angle_steers_k | ||
lqr_log.i = self.i_lqr | ||
lqr_log.output = output_steer | ||
lqr_log.lqrOutput = lqr_output | ||
lqr_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) | ||
return output_steer, desired_angle, lqr_log |
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