openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/controls/lib/latcontrol.py

@@ -0,0 +1,32 @@
+from abc import abstractmethod, ABC
+
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
+
+MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
+
+
+class LatControl(ABC):
+  def __init__(self, CP, CI):
+    self.sat_count_rate = 1.0 * DT_CTRL
+    self.sat_limit = CP.steerLimitTimer
+    self.sat_count = 0.
+    self.sat_check_min_speed = 10.
+
+    # we define the steer torque scale as [-1.0...1.0]
+    self.steer_max = 1.0
+
+  @abstractmethod
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
+    pass
+
+  def reset(self):
+    self.sat_count = 0.
+
+  def _check_saturation(self, saturated, CS, steer_limited):
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
+      self.sat_count += self.sat_count_rate
+    else:
+      self.sat_count -= self.sat_count_rate
+    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    return self.sat_count > (self.sat_limit - 1e-3)