carrot/selfdrive/controls/lib/latcontrol.py
FrogAi 5589bead02 Controls - Lateral Tuning - NNFF
Use Twilsonco's Neural Network Feedforward for enhanced precision in lateral control.

Credit goes to Twilsonco!

https: //github.com/twilsonco
Co-Authored-By: Tim Wilson <7284371+twilsonco@users.noreply.github.com>
2024-06-01 02:34:40 -07:00

33 lines
996 B
Python

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, llk, model_data=None):
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)