diff --git a/cereal/custom.capnp b/cereal/custom.capnp index a89883f..47a5ee6 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -20,6 +20,7 @@ struct FrogPilotDeviceState @0xaedffd8f31e7b55d { enum FrogPilotEvents @0xf35cc4560bbf6ec2 { frogSteerSaturated @0; greenLight @1; + torqueNNLoad @3; } struct FrogPilotLateralPlan @0xda96579883444c35 { diff --git a/cereal/log.capnp b/cereal/log.capnp index 7317362..4f8b436 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -758,6 +758,7 @@ struct ControlsState @0x97ff69c53601abf1 { saturated @7 :Bool; actualLateralAccel @9 :Float32; desiredLateralAccel @10 :Float32; + nnLog @11 :List(Float32); } struct LateralLQRState { diff --git a/common/params.cc b/common/params.cc index 9069650..fb132af 100644 --- a/common/params.cc +++ b/common/params.cc @@ -278,6 +278,9 @@ std::unordered_map keys = { {"MuteOverheated", PERSISTENT}, {"MuteSeatbelt", PERSISTENT}, {"NavEnable", PERSISTENT}, + {"NNFF", PERSISTENT}, + {"NNFFModelFuzzyMatch", PERSISTENT}, + {"NNFFModelName", PERSISTENT}, {"NoLogging", PERSISTENT}, {"OfflineMode", PERSISTENT}, {"PathEdgeWidth", PERSISTENT}, diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 7834a09..94aac29 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -3,8 +3,10 @@ import time import numpy as np import tomllib from abc import abstractmethod, ABC +from difflib import SequenceMatcher from enum import StrEnum -from typing import Any, Dict, Optional, Tuple, List, Callable +from json import load +from typing import Any, Callable, Dict, List, Optional, Tuple, Union from cereal import car from openpilot.common.basedir import BASEDIR @@ -32,7 +34,10 @@ FRICTION_THRESHOLD = 0.3 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') +TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/lat_models') +def similarity(s1:str, s2:str) -> float: + return SequenceMatcher(None, s1, s2).ratio() def get_torque_params(candidate): with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f: @@ -58,12 +63,114 @@ def get_torque_params(candidate): return {key: out[i] for i, key in enumerate(params['legend'])} +# Twilsonco's Lateral Neural Network Feedforward +class FluxModel: + # dict used to rename activation functions whose names aren't valid python identifiers + activation_function_names = {'σ': 'sigmoid'} + def __init__(self, params_file, zero_bias=False): + with open(params_file, "r") as f: + params = load(f) + + self.input_size = params["input_size"] + self.output_size = params["output_size"] + self.input_mean = np.array(params["input_mean"], dtype=np.float32).T + self.input_std = np.array(params["input_std"], dtype=np.float32).T + self.layers = [] + + for layer_params in params["layers"]: + W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T + b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T + if zero_bias: + b = np.zeros_like(b) + activation = layer_params["activation"] + for k, v in self.activation_function_names.items(): + activation = activation.replace(k, v) + self.layers.append((W, b, activation)) + + self.validate_layers() + self.check_for_friction_override() + + # Begin activation functions. + # These are called by name using the keys in the model json file + def sigmoid(self, x): + return 1 / (1 + np.exp(-x)) + + def identity(self, x): + return x + # End activation functions + + def forward(self, x): + for W, b, activation in self.layers: + x = getattr(self, activation)(x.dot(W) + b) + return x + + def evaluate(self, input_array): + in_len = len(input_array) + if in_len != self.input_size: + # If the input is length 2-4, then it's a simplified evaluation. + # In that case, need to add on zeros to fill out the input array to match the correct length. + if 2 <= in_len: + input_array = input_array + [0] * (self.input_size - in_len) + else: + raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater") + + input_array = np.array(input_array, dtype=np.float32) + + # Rescale the input array using the input_mean and input_std + input_array = (input_array - self.input_mean) / self.input_std + + output_array = self.forward(input_array) + + return float(output_array[0, 0]) + + def validate_layers(self): + for W, b, activation in self.layers: + if not hasattr(self, activation): + raise ValueError(f"Unknown activation: {activation}") + + def check_for_friction_override(self): + y = self.evaluate([10.0, 0.0, 0.2]) + self.friction_override = (y < 0.1) + +def get_nn_model_path(car, eps_firmware) -> Tuple[Union[str, None, float]]: + def check_nn_path(check_model): + model_path = None + max_similarity = -1.0 + for f in os.listdir(TORQUE_NN_MODEL_PATH): + if f.endswith(".json"): + model = f.replace(".json", "").replace(f"{TORQUE_NN_MODEL_PATH}/","") + similarity_score = similarity(model, check_model) + if similarity_score > max_similarity: + max_similarity = similarity_score + model_path = os.path.join(TORQUE_NN_MODEL_PATH, f) + return model_path, max_similarity + + if len(eps_firmware) > 3: + eps_firmware = eps_firmware.replace("\\", "") + check_model = f"{car} {eps_firmware}" + else: + check_model = car + model_path, max_similarity = check_nn_path(check_model) + if car not in model_path or 0.0 <= max_similarity < 0.9: + check_model = car + model_path, max_similarity = check_nn_path(check_model) + if car not in model_path or 0.0 <= max_similarity < 0.9: + model_path = None + return model_path, max_similarity + +def get_nn_model(car, eps_firmware) -> Tuple[Union[FluxModel, None, float]]: + model, similarity_score = get_nn_model_path(car, eps_firmware) + if model is not None: + model = FluxModel(model) + return model, similarity_score + # generic car and radar interfaces class CarInterfaceBase(ABC): def __init__(self, CP, CarController, CarState): self.CP = CP self.VM = VehicleModel(CP) + eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")) self.frame = 0 self.steering_unpressed = 0 @@ -91,12 +198,21 @@ class CarInterfaceBase(ABC): # FrogPilot variables params = Params() + self.has_lateral_torque_nn = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware) and params.get_bool("LateralTune") and params.get_bool("NNFF") + self.belowSteerSpeed_shown = False self.disable_belowSteerSpeed = False self.resumeRequired_shown = False self.disable_resumeRequired = False + def get_ff_nn(self, x): + return self.lat_torque_nn_model.evaluate(x) + + def initialize_lat_torque_nn(self, car, eps_firmware): + self.lat_torque_nn_model, _ = get_nn_model(car, eps_firmware) + return (self.lat_torque_nn_model is not None) + @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed, sport_plus): if sport_plus: @@ -116,6 +232,15 @@ class CarInterfaceBase(ABC): ret = CarInterfaceBase.get_std_params(candidate) ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) + # Enable torque controller for all cars that do not use angle based steering + if ret.steerControlType != car.CarParams.SteerControlType.angle and Params().get_bool("LateralTune") and Params().get_bool("NNFF"): + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), "")) + model, similarity_score = get_nn_model_path(candidate, eps_firmware) + if model is not None: + Params("/dev/shm/params").put_bool("NNFFModelFuzzyMatch", similarity_score < 0.99) + Params("/dev/shm/params").put("NNFFModelName", candidate) + # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload if not ret.notCar: ret.mass = ret.mass + STD_CARGO_KG diff --git a/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A030x00x00'.json b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A030x00x00'.json new file mode 100644 index 0000000..39f881e --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A030x00x00'.json @@ -0,0 +1 @@ +{"input_std":[[7.786729],[0.5672887],[0.28005219],[0.035554193],[0.5677058],[0.56628585],[0.56508285],[0.55352837],[0.54181147],[0.52912265],[0.5155199],[0.035507876],[0.0354848],[0.03545452],[0.03514088],[0.03492326],[0.034622278],[0.034296613]],"model_test_loss":0.019161002710461617,"input_size":18,"current_date_and_time":"2023-08-05_00-23-35","input_mean":[[27.090303],[0.047497954],[0.016577758],[0.0007272725],[0.044373695],[0.045599286],[0.046824276],[0.053295966],[0.05693411],[0.058819015],[0.0594564],[0.0004213227],[0.0004913575],[0.00056855136],[0.0008395286],[0.0009874002],[0.0010656398],[0.0010756186]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[0.25851473],[2.4962583],[-0.016582556],[-0.08381792],[-0.16407841],[0.7527331],[0.22097391]],"dense_1_W":[[0.23336808,-0.7667592,0.0008973085,0.34888005,0.4696916,-0.8726721,-0.052713018,-0.3410398,0.083063185,-0.21388897,0.14544983,-0.6639639,0.34076384,0.43210688,-0.18405053,0.14303815,0.1860583,-0.29693],[1.5149847,0.7346798,0.0012407255,0.12526828,-0.15258078,0.75175434,0.43043575,0.8569343,0.3044722,0.6560543,-0.6017985,0.586774,-0.2042676,-0.57615256,-0.82250106,-0.3673933,0.39087212,0.28107244],[-0.056961607,0.14175236,-0.14529344,-0.21935074,-0.4685559,-0.38604775,-0.30533233,0.08093428,-0.054244533,0.046247467,0.002660106,-1.0756555,-0.34733522,0.5118129,0.555274,0.9977485,0.5343106,0.76034987],[0.043177918,1.1426508,-0.2574032,-0.80439544,-1.0474149,0.018192194,-0.72060835,-1.5457815,0.4839822,-0.22740847,0.33749956,0.56239605,-0.18597472,-0.7004514,-0.12335018,0.9408467,1.3969381,1.9147022],[0.15510105,-0.51416093,-0.1709066,0.3122005,-0.27975515,-0.18827502,-0.018079426,-0.07361344,-0.17749901,-0.16815776,0.329771,-0.96269935,-0.41497013,-0.11298405,0.90808386,0.5985053,0.6670271,1.0441304],[0.04084261,-0.3579519,5.764384,2.1556206,-3.1756268,-2.5591285,-3.1059926,-2.1751692,1.9893773,5.344765,3.8095784,0.0068162596,-0.05961051,-0.7790495,0.25181335,0.08936475,-0.4691672,-1.5800782],[0.008442975,-0.9664588,1.254223,0.07495671,-0.9211808,-0.31230834,-1.420559,1.5870605,2.9423354,1.2097238,-1.5209136,0.53799206,-0.24978906,-0.4991973,-0.045118414,0.22720768,-0.021786746,-0.028036244]],"activation":"σ"},{"dense_2_W":[[0.08589389,0.5554316,-0.76533294,1.4370406,-0.749679,0.8190772,0.7847909],[-0.36651522,-0.23656718,-0.9679525,0.54530346,-0.44935027,-0.33107117,-0.11653592],[0.1937388,-0.51963365,-0.41821185,-0.56238693,-0.42072704,0.29349342,0.28873855],[0.18568017,-0.6255592,0.3175428,-0.1296441,0.36066276,0.090375744,0.011777949],[0.29389882,0.41541627,0.29456857,-0.06099775,0.8544443,-0.32980224,-0.018656367],[0.46638128,1.1828619,-1.0409766,1.1076639,-0.8162737,-0.1841819,0.35339093],[-3.1295595,-1.7625448,-0.9519052,2.3819635,-1.5629697,1.4751475,1.054407],[-0.26031867,-0.17098531,-0.86596596,-0.2823039,-0.09237936,-0.5557033,0.21093917],[0.17419276,-0.33989495,0.75525665,-0.23243514,0.067577615,-0.11459458,-0.12737218],[-0.5143146,-0.114794,-0.48588708,0.014262976,-0.3147008,-0.3320594,-0.050031766],[0.69564664,-0.20285861,-0.045860726,-0.24353331,-0.077484764,-0.48740336,-0.49667886],[-0.73832846,-0.056390353,-1.1750503,0.9696539,-0.14256468,-0.9768354,0.3639443],[-0.33827624,1.3389958,-0.90204453,1.2786052,-0.37693223,1.0066575,0.7839061]],"activation":"σ","dense_2_b":[[0.004400438],[-0.012242325],[-0.24042149],[-0.2775402],[0.026533086],[0.17362237],[-0.11018203],[-0.26839134],[-0.012196942],[-0.27722296],[0.061678015],[-0.030844057],[-0.1247429]]},{"dense_3_W":[[-0.004011368,0.44971785,-0.29006478,0.44446334,0.15595631,0.18539023,-0.027091525,-0.36382222,-0.47578183,0.3841759,-0.58085823,0.21311298,0.43156254],[-0.114403516,-0.58336,-0.15005592,0.4984802,0.050974183,-0.2988934,0.17598677,-0.38844588,-0.43446323,-0.46759152,0.59965366,-0.22926027,0.46112597],[-0.666863,-0.06357686,-0.37007764,0.7205996,0.7096061,-0.1758518,-0.8103027,-0.44219843,0.7200449,0.5289802,-0.16617142,-0.40598816,0.00529661]],"activation":"identity","dense_3_b":[[-0.09627088],[0.058493696],[0.09405641]]},{"dense_4_W":[[0.8841606,-0.039429788,-0.82832056]],"dense_4_b":[[-0.09594059]],"activation":"identity"}]} \ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A040x00x00'.json b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A040x00x00'.json new file mode 100644 index 0000000..8c389b9 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A040x00x00'.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A070x00x00'.json b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A070x00x00'.json new file mode 100644 index 0000000..05288d3 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/ACURA RDX 2020 b'39990-TJB-A070x00x00'.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/VOLKSWAGEN TIGUAN 2ND GEN.json b/selfdrive/car/torque_data/lat_models/VOLKSWAGEN TIGUAN 2ND GEN.json new file mode 100644 index 0000000..2f0c995 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/VOLKSWAGEN TIGUAN 2ND GEN.json @@ -0,0 +1 @@ +{"input_std":[[8.782441],[1.1398275],[0.4609802],[0.04271673],[1.1238744],[1.1299343],[1.1346341],[1.1119426],[1.0859472],[1.0505929],[1.01332],[0.042612497],[0.042648252],[0.042672537],[0.042585343],[0.042469293],[0.042215183],[0.04179356]],"model_test_loss":0.018630679696798325,"input_size":18,"current_date_and_time":"2023-08-14_01-59-38","input_mean":[[22.468307],[-0.0059960946],[-0.008688168],[-0.003941978],[-0.004109974],[-0.0052409726],[-0.0066701453],[-0.010034277],[-0.013358513],[-0.011732898],[-0.0112503925],[-0.0039730547],[-0.0039907545],[-0.004007257],[-0.0040642004],[-0.004142748],[-0.004199409],[-0.0042553144]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.22421235],[0.022291217],[0.015709542],[-0.04664034],[-0.036350474],[-0.24544194],[-0.04896989]],"dense_1_W":[[-0.015455264,0.35899833,6.998555,0.81398284,0.34668404,0.50750834,-0.30584475,0.6416511,-0.5377552,-0.026296293,-0.6502898,0.43909717,-0.27295533,-0.76501244,-0.5884351,0.22982346,-0.26877192,0.26560456],[-0.01508568,1.8268416,0.00402336,0.2784217,-0.7716931,0.46446714,-0.11456723,0.10766974,0.30401927,-0.085616745,-0.15998937,0.44400185,-0.48933145,-0.23811713,-0.440158,-0.10242332,0.051594254,0.12977812],[-0.009739386,-2.6971612,0.001168384,-0.35022622,0.65414,-0.717214,-0.44903016,-0.49311733,-0.43150806,0.06219255,0.23182331,-0.44158918,-0.49226075,0.47947824,0.6467593,0.34515625,0.09018108,-0.47900265],[1.0840801,-0.7623997,-0.005088885,-0.52213657,-0.22831856,-0.6294846,-1.2465742,0.3222685,0.020507088,-0.024931427,-0.24259277,0.08206772,0.21676067,-0.41708487,0.50989604,0.33494267,-0.079637915,-0.14551927],[0.004391417,-0.10370217,0.0014306986,-0.072918385,-0.63637805,-1.1973468,0.5230291,-0.05261172,0.25703079,0.041062124,-0.34666935,0.0939909,-0.48456657,0.08325979,0.5252982,-0.10210225,-0.12507002,0.05711295],[-0.010150519,0.47018084,1.575968,-0.12638067,0.58264244,1.1620525,-0.6418302,-0.022278491,0.5091847,-0.16685116,0.074821465,0.22004989,-0.099773616,-0.5007223,-0.09964562,0.46015504,0.21582201,-0.23595089],[1.1357191,0.7709306,0.003718608,0.6016892,0.7352459,0.33387783,1.0426474,0.12312558,-0.49904007,0.032169387,0.37637976,-0.05813148,-0.49427262,0.49914685,-0.2028158,-0.5950836,0.2782391,0.028333709]],"activation":"σ"},{"dense_2_W":[[0.43099108,-0.40067255,0.15829495,-0.48378208,0.396984,-0.1558594,-0.1562694],[0.6452132,0.40809157,-0.5897283,1.2150947,-0.6793519,0.78984624,0.66217726],[-1.0487145,-0.15708125,0.48070663,-1.294668,0.44506454,-1.0924927,-1.3423347],[-0.0905496,-0.39283985,-0.560608,-0.4611327,-0.3925291,0.005858116,0.5098873],[-1.3053528,-0.17654762,1.1515645,1.4426079,1.0838766,-0.6442153,1.756127],[-0.34371176,1.1574818,0.017585738,0.20476972,-0.463017,-0.22401343,-0.5996214],[0.20533562,0.79994386,-0.8060774,0.17529243,-0.38612595,0.03759143,-0.22778784],[-0.10523058,1.0248777,-0.5244927,0.58016795,-0.48161384,0.2411753,-0.3102547],[0.041490827,-0.12094459,0.44139338,0.123947956,0.5913839,-0.50927347,0.82576096],[-0.17784683,-0.7949691,0.6407812,0.36980206,-0.045769464,-0.15805046,0.27670377],[0.13153441,-0.9403638,0.2306892,-0.18441507,0.34671855,-0.074668296,0.5032],[-0.04615598,0.71520805,-0.0030287886,-0.17552495,-0.19403128,0.21251689,0.24918763],[0.2859375,-0.5510105,0.31645826,-0.15235336,0.62049425,0.14673771,0.11173112]],"activation":"σ","dense_2_b":[[-0.20544042],[0.14436114],[-0.12040931],[-0.16554375],[0.36716554],[0.17168364],[-0.065600924],[-0.01176559],[-0.03528442],[0.037511505],[-0.11677802],[-0.035834227],[-0.17063564]]},{"dense_3_W":[[-0.3723276,0.4951858,-0.17594789,0.31653145,-0.09435181,0.45912716,-0.30004933,0.41055498,-0.21392249,0.35937718,-0.10425309,-0.2715391,-0.5834551],[-0.25541237,-0.58331114,0.4694298,-0.14703207,0.7632458,-0.35720977,-0.26993504,-0.5713957,0.020457853,0.012436012,-0.049483325,0.1666998,0.33925256],[0.45550138,0.12273135,0.51411545,0.43389788,0.0037848332,-0.41984108,-0.10243085,-0.56994265,0.24741924,0.44959965,0.5980098,-0.37595576,0.34953722]],"activation":"identity","dense_3_b":[[0.048041742],[-0.07375918],[-0.090859294]]},{"dense_4_W":[[0.09198451,-1.1679362,-0.9176557]],"dense_4_b":[[0.08128402]],"activation":"identity"}]} \ No newline at end of file diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index e48f0b5..5656fa9 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -30,6 +30,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "HYUNDAI IONIQ HYBRID 2017-2019" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" "HYUNDAI IONIQ HYBRID 2020-2022" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" "HYUNDAI IONIQ ELECTRIC 2020" = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" +"HYUNDAI IONIQ 6 2023" = "HYUNDAI IONIQ 5 2022" "HYUNDAI ELANTRA 2017" = "HYUNDAI SONATA 2019" "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" = "HYUNDAI SONATA 2019" "HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2351f1e..466ce37 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -205,6 +205,7 @@ class Controls: self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False + self.nn_alert_shown = False self.can_log_mono_time = 0 @@ -258,6 +259,11 @@ class Controls: if self.CP.passive: return + # show alert to indicate whether NNFF is loaded + if not self.nn_alert_shown and self.sm.frame % 550 == 0 and self.CP.lateralTuning.which() == 'torque' and self.CI.has_lateral_torque_nn: + self.nn_alert_shown = True + self.events.add(FrogPilotEventName.torqueNNLoad) + # Block resume if cruise never previously enabled resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: @@ -678,7 +684,8 @@ class Controls: self.average_desired_curvature) actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, - self.desired_curvature_rate, self.sm['liveLocationKalman']) + self.desired_curvature_rate, self.sm['liveLocationKalman'], + lat_plan=lat_plan, model_data=self.sm['modelV2']) actuators.curvature = self.desired_curvature else: lac_log = log.ControlsState.LateralDebugState.new_message() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index f3dd4cf..8d5c986 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -7,6 +7,7 @@ from typing import Dict, Union, Callable, List, Optional from cereal import log, car, custom import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER from openpilot.system.version import get_short_branch @@ -260,6 +261,22 @@ def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, m AlertStatus.normal, AlertSize.mid, Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.) + +def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + model_name = Params("/dev/shm/params").get("NNFFModelName") + if model_name == "": + return Alert( + "NNFF Torque Controller not available", + "Donate logs to Twilsonco to get it added!", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0) + else: + return Alert( + "NNFF Torque Controller loaded", + model_name, + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0) + # *** debug alerts *** def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: @@ -983,6 +1000,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.), }, + FrogPilotEventName.torqueNNLoad: { + ET.PERMANENT: torque_nn_load_alert, + }, + } diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 723af7f..99a8751 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index d363295..d33a3ac 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index c673159..b88a01f 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f46ab9e..edbb6db 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1,10 +1,15 @@ +from collections import deque import math +import numpy as np from cereal import log +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.modeld.constants import ModelConstants # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to @@ -19,7 +24,33 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G LOW_SPEED_X = [0, 10, 20, 30] LOW_SPEED_Y = [15, 13, 10, 5] +LOW_SPEED_Y_NN = [12, 3, 1, 0] +def sign(x): + return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0) + +LAT_PLAN_MIN_IDX = 5 +def get_lookahead_value(future_vals, current_val): + if len(future_vals) == 0: + return current_val + + same_sign_vals = [v for v in future_vals if sign(v) == sign(current_val)] + + # if any future val has opposite sign of current val, return 0 + if len(same_sign_vals) < len(future_vals): + return 0.0 + + # otherwise return the value with minimum absolute value + min_val = min(same_sign_vals + [current_val], key=lambda x: abs(x)) + return min_val + +# At a given roll, if pitch magnitude increases, the +# gravitational acceleration component starts pointing +# in the longitudinal direction, decreasing the lateral +# acceleration component. Here we do the same thing +# to the roll value itself, then passed to nnff. +def roll_pitch_adjust(roll, pitch): + return roll * math.cos(pitch) class LatControlTorque(LatControl): def __init__(self, CP, CI): @@ -30,14 +61,64 @@ class LatControlTorque(LatControl): self.torque_from_lateral_accel = CI.torque_from_lateral_accel() self.use_steering_angle = self.torque_params.useSteeringAngle self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg + self.lowspeed_factor_factor = 1.0 # in [0, 1] in 0.1 increments. + + # Twilsonco's Lateral Neural Network Feedforward + self.use_nn = CI.has_lateral_torque_nn + if self.use_nn: + self.pitch = FirstOrderFilter(0.0, 0.5, 0.01) + self.lowspeed_factor_factor = 1.0 + # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data + # of lat accel and roll + # Past value is computed using previous desired lat accel and observed roll + self.torque_from_nn = CI.get_ff_nn + self.nn_friction_override = CI.lat_torque_nn_model.friction_override + + # setup future time offsets + self.nn_time_offset = CP.steerActuatorDelay + 0.2 + future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future + self.nn_future_times = [i + self.nn_time_offset for i in future_times] + self.nn_future_times_np = np.array(self.nn_future_times) + + # setup past time offsets + self.past_times = [-0.3, -0.2, -0.1] + history_check_frames = [int(abs(i)*100) for i in self.past_times] + self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames] + self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0]) + self.roll_deque = deque(maxlen=history_check_frames[0]) + self.error_deque = deque(maxlen=history_check_frames[0]) + self.past_future_len = len(self.past_times) + len(self.nn_future_times) + + # Setup adjustable parameters + + # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, + # however, we can "look ahead" to the future planned lateral jerk in order to guage + # whether the current desired lateral jerk will persist into the future, i.e. + # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk. + # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent + # using a "future" value that is actually planned to occur before the "current" desired + # value, which is offset by the steerActuatorDelay. + self.friction_look_ahead_v = [0.8, 1.8] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments + self.friction_look_ahead_bp = [9.0, 35.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments + # Additionally, we use a deadzone to make sure that we only put additional torque + # when the jerk is large enough to be significant. + self.lat_jerk_deadzone = 0.0 # m/s^3 in [0, ∞] in 0.05 increments + # Finally, lateral jerk error is downscaled so it doesn't dominate the friction error + # term. + self.lat_jerk_friction_factor = 0.4 # in [0, 3] in 0.05 increments + + # Scaling the lateral acceleration "friction response" could be helpful for some. + # Increase for a stronger response, decrease for a weaker response. + self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk, lat_plan=None, model_data=None): pid_log = log.ControlsState.LateralTorqueState.new_message() + nn_log = None if not active: output_torque = 0.0 @@ -46,11 +127,15 @@ class LatControlTorque(LatControl): if self.use_steering_angle: actual_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) + if self.use_nn: + actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0) + actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 else: actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) curvature_deadzone = 0.0 + actual_lateral_jerk = 0.0 desired_lateral_accel = desired_curvature * CS.vEgo ** 2 # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature @@ -58,18 +143,76 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 + low_speed_factor = (self.lowspeed_factor_factor * interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nn else LOW_SPEED_Y_NN))**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, - lateral_accel_deadzone, friction_compensation=False) - torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, - lateral_accel_deadzone, friction_compensation=False) - pid_log.error = torque_from_setpoint - torque_from_measurement - ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, - desired_lateral_accel - actual_lateral_accel, - lateral_accel_deadzone, friction_compensation=True) + + model_planner_good = None not in [lat_plan, model_data] and all([len(i) >= CONTROL_N for i in [model_data.orientation.x, lat_plan.curvatures]]) + if self.use_nn and model_planner_good: + # update past data + roll = params.roll + pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) + roll = roll_pitch_adjust(roll, pitch) + self.roll_deque.append(roll) + self.lateral_accel_desired_deque.append(desired_lateral_accel) + + # prepare "look-ahead" desired lateral jerk + lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) + friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) + lookahead_curvature_rate = get_lookahead_value(list(lat_plan.curvatureRates)[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_curvature_rate) + lookahead_lateral_jerk = lookahead_curvature_rate * CS.vEgo**2 + + # prepare past and future values + # adjust future times to account for longitudinal acceleration + adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times] + past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets] + future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times] + past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets] + future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], lat_plan.curvatures) * CS.vEgo ** 2 for t in adjusted_future_times] + + # compute NN error response. + lookahead_lateral_jerk = apply_deadzone(lookahead_lateral_jerk, self.lat_jerk_deadzone) + lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk + lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk + if self.use_steering_angle or lookahead_lateral_jerk == 0.0: + lateral_jerk_measurement = 0.0 + + # compute NNFF error response + nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \ + + [setpoint] * self.past_future_len \ + + past_rolls + future_rolls + # past lateral accel error shouldn't count, so use past desired like the setpoint input + nnff_measurement_input = [CS.vEgo, measurement, lateral_jerk_measurement, roll] \ + + [measurement] * self.past_future_len \ + + past_rolls + future_rolls + torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input) + torque_from_measurement = self.torque_from_nn(nnff_measurement_input) + pid_log.error = torque_from_setpoint - torque_from_measurement + + # compute feedforward (same as nn setpoint output) + error = setpoint - measurement + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \ + + past_lateral_accels_desired + future_planned_lateral_accels \ + + past_rolls + future_rolls + ff = self.torque_from_nn(nn_input) + + # apply friction override for cars with low NN friction response + if self.nn_friction_override: + pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params, + friction_input, + lateral_accel_deadzone, friction_compensation=True) + nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input + else: + gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, + lateral_accel_deadzone, friction_compensation=False) + torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, + lateral_accel_deadzone, friction_compensation=False) + pid_log.error = torque_from_setpoint - torque_from_measurement + ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, + desired_lateral_accel - actual_lateral_accel, + lateral_accel_deadzone, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, @@ -86,6 +229,8 @@ class LatControlTorque(LatControl): pid_log.actualLateralAccel = actual_lateral_accel pid_log.desiredLateralAccel = desired_lateral_accel pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) + if nn_log is not None: + pid_log.nnLog = nn_log # TODO left is positive in this convention return -output_torque, 0.0, pid_log diff --git a/selfdrive/frogpilot/ui/control_settings.cc b/selfdrive/frogpilot/ui/control_settings.cc index 4216127..0f56ae2 100644 --- a/selfdrive/frogpilot/ui/control_settings.cc +++ b/selfdrive/frogpilot/ui/control_settings.cc @@ -25,6 +25,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil {"LateralTune", "Lateral Tuning", "Modify openpilot's steering behavior.", "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"}, {"AverageCurvature", "Average Desired Curvature", "Use Pfeiferj's distance-based curvature adjustment for improved curve handling.", ""}, + {"NNFF", "NNFF - Neural Network Feedforward", "Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.", ""}, {"LongitudinalTune", "Longitudinal Tuning", "Modify openpilot's acceleration and braking behavior.", "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"}, {"AccelerationProfile", "Acceleration Profile", "Change the acceleration rate to be either sporty or eco-friendly.", ""}, @@ -223,7 +224,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil }); } - std::set rebootKeys = {"AlwaysOnLateral", "FireTheBabysitter", "MuteDM"}; + std::set rebootKeys = {"AlwaysOnLateral", "FireTheBabysitter", "MuteDM", "NNFF"}; for (const std::string &key : rebootKeys) { QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() { if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) { @@ -235,7 +236,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"}; fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"}; laneChangeKeys = {}; - lateralTuneKeys = {"AverageCurvature"}; + lateralTuneKeys = {"AverageCurvature", "NNFF"}; longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "StoppingDistance"}; speedLimitControllerKeys = {}; visionTurnControlKeys = {};