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Dynamic gas updates, live tunable parameter support #505

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Dynamic gas updates, live tunable parameter support #505

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2fb897d
Merge pull request #20 from arne182/066-clean
sshane Dec 17, 2019
cbdfd20
Merge pull request #22 from arne182/066-clean
sshane Dec 19, 2019
a0da14d
tuning for dynamic gas and enable it
sshane Dec 22, 2019
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37 changes: 21 additions & 16 deletions selfdrive/controls/lib/longcontrol.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
from common.numpy_fast import clip, interp
from selfdrive.controls.lib.pid import PIController
import time
from common.travis_checker import travis

LongCtrlState = log.ControlsState.LongControlState

Expand Down Expand Up @@ -78,6 +79,8 @@ def reset(self, v_pid):

def dynamic_gas(self, v_ego, gas_interceptor, gas_button_status):
dynamic = False
x = [0., 9., 55] # default BP values
y = [0.2, 0.5, 0.7]
if gas_interceptor:
if gas_button_status == 0:
dynamic = True
Expand All @@ -97,24 +100,24 @@ def dynamic_gas(self, v_ego, gas_interceptor, gas_button_status):
elif gas_button_status == 2:
y = [0.25, 0.2, 0.2]

if not dynamic:
x = [0., 9., 35.] # default BP values

accel = interp(v_ego, x, y)
gas = interp(v_ego, x, y)

if dynamic and self.lead_data['status']: # dynamic gas profile specific operations, and if lead
if v_ego < 6.7056: # if under 15 mph
x = [1.61479, 1.99067, 2.28537, 2.49888, 2.6312, 2.68224]
y = [-accel, -(accel / 1.06), -(accel / 1.2), -(accel / 1.8), -(accel / 4.4), 0] # array that matches current chosen accel value
accel += interp(self.lead_data['vRel'], x, y)
if v_ego <= 8.9408: # if under 20 mph
x = [0.0, 0.24588812499999999, 0.432818589, 0.593044697, 0.730381365, 1.050833588, 1.3965, 1.714627481] # relative velocity mod
y = [-(gas / 1.01), -(gas / 1.105), -(gas / 1.243), -(gas / 1.6), -(gas / 2.32), -(gas / 4.8), -(gas / 15), 0]
gas_mod = interp(self.lead_data['vRel'], x, y)
new_gas = gas + gas_mod

x = [1.78816, 6.0, 8.9408] # slowly ramp mods down as we approach 20 mph
y = [new_gas, (new_gas * 0.8 + gas * 0.2), gas]
gas = interp(v_ego, x, y)
else:
x = [-0.89408, 0, 0.89408, 4.4704]
y = [-.15, -.05, .005, .05]
accel += interp(self.lead_data['vRel'], x, y)
x = [-0.89408, 0, 2.0] # need to tune this
y = [-.17, -.08, .01]
gas += interp(self.lead_data['vRel'], x, y)

min_return = 0.0
max_return = 1.0
return round(max(min(accel, max_return), min_return), 5) # ensure we return a value between range
return clip(gas, 0.0, 1.0)

def process_lead(self, lead_one,has_lead):
self.lead_data['vRel'] = lead_one.vRel
Expand All @@ -134,8 +137,10 @@ def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_
except AttributeError:
gas_interceptor = False

gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)
# gas_max = self.dynamic_gas(v_ego, gas_interceptor, gas_button_status) #todo: fix this
if not travis:
gas_max = self.dynamic_gas(v_ego, gas_interceptor, gas_button_status)
else:
gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)
brake_max = interp(v_ego, CP.brakeMaxBP, CP.brakeMaxV)

# Update state machine
Expand Down