From 7151cd1c56bef5891ef8a6bfd29dae9f39b190a9 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Fri, 12 Jan 2024 22:39:30 -0700 Subject: [PATCH] GM long pitch compensation Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com> --- common/params.cc | 1 + selfdrive/car/gm/carcontroller.py | 28 ++++++++++++++++++++-- selfdrive/frogpilot/ui/vehicle_settings.cc | 3 ++- 3 files changed, 29 insertions(+), 3 deletions(-) diff --git a/common/params.cc b/common/params.cc index 6268a12..b1f020f 100644 --- a/common/params.cc +++ b/common/params.cc @@ -257,6 +257,7 @@ std::unordered_map keys = { {"LateralTune", PERSISTENT}, {"LeadInfo", PERSISTENT}, {"LongitudinalTune", PERSISTENT}, + {"LongPitch", PERSISTENT}, {"ModelUI", PERSISTENT}, {"MuteDM", PERSISTENT}, {"MuteDoor", PERSISTENT}, diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c800a89..f71a190 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,11 +1,14 @@ from cereal import car from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR +from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -18,6 +21,10 @@ CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault MIN_STEER_MSG_INTERVAL_MS = 15 +# constants for pitch compensation +PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade +BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds +BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch class CarController: def __init__(self, dbc_name, CP, VM): @@ -43,11 +50,17 @@ class CarController: self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) # FrogPilot variables + self.long_pitch = False + + self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz + self.accel_g = 0.0 def update_frogpilot_variables(self, params): + self.long_pitch = params.get_bool("LongPitch") def update(self, CC, CS, now_nanos): actuators = CC.actuators + accel = actuators.accel hud_control = CC.hudControl hud_alert = hud_control.visualAlert hud_v_cruise = hud_control.setSpeed @@ -94,13 +107,20 @@ class CarController: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping + + # Pitch compensated acceleration; + # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay + self.pitch.update(CC.orientationNED[1]) + self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch + accel += self.accel_g if not CC.longActive: # ASCM sends max regen when not enabled self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V) + self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: @@ -131,6 +151,9 @@ class CarController: send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) + else: + # to keep accel steady for logs when not sending gas + accel += self.accel_g # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) @@ -171,6 +194,7 @@ class CarController: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) new_actuators = actuators.copy() + new_actuators.accel = accel new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas diff --git a/selfdrive/frogpilot/ui/vehicle_settings.cc b/selfdrive/frogpilot/ui/vehicle_settings.cc index 680537a..e215fd3 100644 --- a/selfdrive/frogpilot/ui/vehicle_settings.cc +++ b/selfdrive/frogpilot/ui/vehicle_settings.cc @@ -100,6 +100,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil std::vector> vehicleToggles { {"GasRegenCmd", "Gas Regen Cmd", "", ""}, + {"LongPitch", "Long Pitch Compensation", "Reduce speed and acceleration error for greater passenger comfort and improved vehicle efficiency.", ""}, }; for (auto &[param, title, desc, icon] : vehicleToggles) { @@ -114,7 +115,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil }); } - gmKeys = {"GasRegenCmd"}; + gmKeys = {"GasRegenCmd", "LongPitch"}; toyotaKeys = {}; std::set rebootKeys = {};