latcontrol_torque: delay independent jerk and lower kp and lower friction threshold (#36619)

Author: felsager

opendbc_repo

@@ -20,29 +20,31 @@
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
+
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -68,33 +70,26 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
       pid_log.error = float(error)
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       pid_log.active = True

selfdrive/controls/lib/latcontrol_torque.py

@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
+e0ad86508edb61b3eaa1b84662c515d2c3368295