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Calculate average desired curvature using planned distance

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Added toggle to calculate average desired curvature using planned distance instead of the car's speed.

Credit goes to Pfeiferj!

https: //github.com/pfeiferj
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 8baf713117
commit b4550a13ba
8 changed files with 35 additions and 7 deletions
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11
selfdrive/controls/lib/drive_helpers.py
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@@ -16,6 +16,7 @@ V_CRUISE_INITIAL = 40
V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors
MIN_DIST = 0.001
MIN_SPEED = 1.0
CONTROL_N = 17
CAR_ROTATION_RADIUS = 0.0
@@ -163,11 +164,12 @@ def rate_limit(new_value, last_value, dw_step, up_step):
return clip(new_value, last_value + dw_step, last_value + up_step)
def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
if len(psis) != CONTROL_N:
def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates, distances, average_desired_curvature):
if len(psis) != CONTROL_N or len(distances) != CONTROL_N:
psis = [0.0]*CONTROL_N
curvatures = [0.0]*CONTROL_N
curvature_rates = [0.0]*CONTROL_N
distances = [0.0]*CONTROL_N
v_ego = max(MIN_SPEED, v_ego)
# TODO this needs more thought, use .2s extra for now to estimate other delays
@@ -178,7 +180,10 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
# psi to calculate a simple linearization of desired curvature
current_curvature_desired = curvatures[0]
psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
average_curvature_desired = psi / (v_ego * delay)
# Pfeiferj's #28118 PR - https://github.com/commaai/openpilot/pull/28118
distance = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], distances)
distance = max(MIN_DIST, distance)
average_curvature_desired = psi / distance if average_desired_curvature else psi / (v_ego * delay)
desired_curvature = 2 * average_curvature_desired - current_curvature_desired
# This is the "desired rate of the setpoint" not an actual desired rate