openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
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selfdrive/locationd/models/car_kf.py
Executable file
180
selfdrive/locationd/models/car_kf.py
Executable file
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#!/usr/bin/env python3
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import math
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import sys
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from typing import Any, Dict
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import numpy as np
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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from openpilot.selfdrive.locationd.models.constants import ObservationKind
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from openpilot.common.swaglog import cloudlog
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from rednose.helpers.kalmanfilter import KalmanFilter
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if __name__ == '__main__': # Generating sympy
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import sympy as sp
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from rednose.helpers.ekf_sym import gen_code
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else:
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from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
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i = 0
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def _slice(n):
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global i
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s = slice(i, i + n)
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i += n
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return s
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class States():
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# Vehicle model params
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STIFFNESS = _slice(1) # [-]
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STEER_RATIO = _slice(1) # [-]
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ANGLE_OFFSET = _slice(1) # [rad]
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ANGLE_OFFSET_FAST = _slice(1) # [rad]
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VELOCITY = _slice(2) # (x, y) [m/s]
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YAW_RATE = _slice(1) # [rad/s]
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STEER_ANGLE = _slice(1) # [rad]
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ROAD_ROLL = _slice(1) # [rad]
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class CarKalman(KalmanFilter):
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name = 'car'
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initial_x = np.array([
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1.0,
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15.0,
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0.0,
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0.0,
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10.0, 0.0,
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0.0,
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0.0,
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0.0
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])
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# process noise
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Q = np.diag([
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(.05 / 100)**2,
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.01**2,
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math.radians(0.02)**2,
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math.radians(0.25)**2,
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.1**2, .01**2,
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math.radians(0.1)**2,
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math.radians(0.1)**2,
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math.radians(1)**2,
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])
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P_initial = Q.copy()
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obs_noise: Dict[int, Any] = {
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ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.05)**2),
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ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
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ObservationKind.ROAD_ROLL: np.atleast_2d(math.radians(1.0)**2),
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ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),
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ObservationKind.STIFFNESS: np.atleast_2d(0.5**2),
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ObservationKind.ROAD_FRAME_X_SPEED: np.atleast_2d(0.1**2),
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}
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global_vars = [
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'mass',
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'rotational_inertia',
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'center_to_front',
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'center_to_rear',
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'stiffness_front',
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'stiffness_rear',
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]
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@staticmethod
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def generate_code(generated_dir):
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dim_state = CarKalman.initial_x.shape[0]
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name = CarKalman.name
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# vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
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# Model used is in 6.15 with formula from 6.198
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# globals
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global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]
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m, j, aF, aR, cF_orig, cR_orig = global_vars
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# make functions and jacobians with sympy
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# state variables
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state_sym = sp.MatrixSymbol('state', dim_state, 1)
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state = sp.Matrix(state_sym)
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# Vehicle model constants
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sf = state[States.STIFFNESS, :][0, 0]
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cF, cR = sf * cF_orig, sf * cR_orig
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angle_offset = state[States.ANGLE_OFFSET, :][0, 0]
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angle_offset_fast = state[States.ANGLE_OFFSET_FAST, :][0, 0]
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theta = state[States.ROAD_ROLL, :][0, 0]
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sa = state[States.STEER_ANGLE, :][0, 0]
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sR = state[States.STEER_RATIO, :][0, 0]
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u, v = state[States.VELOCITY, :]
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r = state[States.YAW_RATE, :][0, 0]
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A = sp.Matrix(np.zeros((2, 2)))
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A[0, 0] = -(cF + cR) / (m * u)
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A[0, 1] = -(cF * aF - cR * aR) / (m * u) - u
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A[1, 0] = -(cF * aF - cR * aR) / (j * u)
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A[1, 1] = -(cF * aF**2 + cR * aR**2) / (j * u)
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B = sp.Matrix(np.zeros((2, 1)))
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B[0, 0] = cF / m / sR
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B[1, 0] = (cF * aF) / j / sR
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C = sp.Matrix(np.zeros((2, 1)))
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C[0, 0] = ACCELERATION_DUE_TO_GRAVITY
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C[1, 0] = 0
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x = sp.Matrix([v, r]) # lateral velocity, yaw rate
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x_dot = A * x + B * (sa - angle_offset - angle_offset_fast) - C * theta
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dt = sp.Symbol('dt')
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state_dot = sp.Matrix(np.zeros((dim_state, 1)))
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state_dot[States.VELOCITY.start + 1, 0] = x_dot[0]
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state_dot[States.YAW_RATE.start, 0] = x_dot[1]
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# Basic descretization, 1st order integrator
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# Can be pretty bad if dt is big
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f_sym = state + dt * state_dot
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#
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# Observation functions
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#
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obs_eqs = [
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[sp.Matrix([r]), ObservationKind.ROAD_FRAME_YAW_RATE, None],
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[sp.Matrix([u, v]), ObservationKind.ROAD_FRAME_XY_SPEED, None],
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[sp.Matrix([u]), ObservationKind.ROAD_FRAME_X_SPEED, None],
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[sp.Matrix([sa]), ObservationKind.STEER_ANGLE, None],
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[sp.Matrix([angle_offset_fast]), ObservationKind.ANGLE_OFFSET_FAST, None],
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[sp.Matrix([sR]), ObservationKind.STEER_RATIO, None],
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[sp.Matrix([sf]), ObservationKind.STIFFNESS, None],
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[sp.Matrix([theta]), ObservationKind.ROAD_ROLL, None],
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]
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gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
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def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None):
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dim_state = self.initial_x.shape[0]
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dim_state_err = self.P_initial.shape[0]
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x_init = self.initial_x
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x_init[States.STEER_RATIO] = steer_ratio
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x_init[States.STIFFNESS] = stiffness_factor
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x_init[States.ANGLE_OFFSET] = angle_offset
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if P_initial is not None:
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self.P_initial = P_initial
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# init filter
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self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
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dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
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if __name__ == "__main__":
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generated_dir = sys.argv[2]
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CarKalman.generate_code(generated_dir)
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