Merge remote-tracking branch 'upstream/master' into rl-multilang

Author: sshane

cereal/log.capnp

@@ -918,6 +918,8 @@ struct ControlsState @0x97ff69c53601abf1 {
     saturated @7 :Bool;
     actualLateralAccel @9 :Float32;
     desiredLateralAccel @10 :Float32;
+    desiredLateralJerk @11 :Float32;
+    version @12 :Int32;
    }
 
   struct LateralLQRState {

selfdrive/controls/lib/latcontrol_torque.py

@@ -4,10 +4,8 @@
 
 from cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
-from opendbc.car.tests.test_lateral_limits import MAX_LAT_JERK_UP
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 
@@ -17,31 +15,34 @@
 # wheel slip, or to speed.
 
 # This controller applies torque to achieve desired lateral
-# accelerations. To compensate for the low speed effects we
-# use a LOW_SPEED_FACTOR in the error. Additionally, there is
-# friction in the steering wheel that needs to be overcome to
-# move it at all, this is compensated for too.
+# accelerations. To compensate for the low speed effects the
+# proportional gain is increased at low speeds by the PID controller.
+# Additionally, there is friction in the steering wheel that needs
+# to be overcome to move it at all, this is compensated for too.
 
-LOW_SPEED_X = [0, 10, 20, 30]
-LOW_SPEED_Y = [15, 13, 10, 5]
 KP = 1.0
 KI = 0.3
 KD = 0.0
+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
+LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
+VERSION = 0
 
 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(KP, KI, k_d=KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
-    self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
-    self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
+    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 * (MAX_LAT_JERK_UP - 0.5)), self.dt)
+    self.measurement_rate_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
@@ -55,6 +56,7 @@ def update_limits(self):
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.version = VERSION
     if not active:
       output_torque = 0.0
       pid_log.active = False
@@ -64,25 +66,23 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
-      expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
+      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
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
-      self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
+      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
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
       self.previous_measurement = measurement
 
-      low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
       setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
-      error_lsf = error + low_speed_factor / KP * error
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
-      pid_log.error = float(error_lsf)
+      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
@@ -102,9 +102,10 @@ def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvat
       pid_log.i = float(self.pid.i)
       pid_log.d = float(self.pid.d)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(-output_torque)  # TODO: log lat accel?
+      pid_log.output = float(-output_torque) # TODO: log lat accel?
       pid_log.actualLateralAccel = float(measurement)
       pid_log.desiredLateralAccel = float(setpoint)
+      pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention

selfdrive/modeld/models/dmonitoring_model.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9b2117ee4907add59e3fbe6829cda74e0ad71c0835b0ebb9373ba9425de0d336
+oid sha256:3a53626ab84757813fb16a1441704f2ae7192bef88c331bdc2415be6981d204f
 size 7191776

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-55e82ab6370865a1427ebc1d559921a5354d9cbf
+b508f43fb0481bce0859c9b6ab4f45ee690b8dab

selfdrive/ui/soundd.py

@@ -124,7 +124,7 @@ def calculate_volume(self, weighted_db):
     volume = ((weighted_db - AMBIENT_DB) / DB_SCALE) * (MAX_VOLUME - MIN_VOLUME) + MIN_VOLUME
     return math.pow(10, (np.clip(volume, MIN_VOLUME, MAX_VOLUME) - 1))
 
-  @retry(attempts=7, delay=3)
+  @retry(attempts=10, delay=3)
   def get_stream(self, sd):
     # reload sounddevice to reinitialize portaudio
     sd._terminate()

system/micd.py

@@ -94,7 +94,7 @@ def callback(self, indata, frames, time, status):
 
         self.measurements = self.measurements[FFT_SAMPLES:]
 
-  @retry(attempts=7, delay=3)
+  @retry(attempts=10, delay=3)
   def get_stream(self, sd):
     # reload sounddevice to reinitialize portaudio
     sd._terminate()

system/ui/widgets/button.py

@@ -61,7 +61,7 @@ class ButtonStyle(IntEnum):
 BUTTON_PRESSED_BACKGROUND_COLORS = {
   ButtonStyle.NORMAL: rl.Color(74, 74, 74, 255),
   ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255),
-  ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
+  ButtonStyle.DANGER: rl.Color(204, 0, 0, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
   ButtonStyle.TRANSPARENT_WHITE_TEXT: rl.BLANK,
   ButtonStyle.TRANSPARENT_WHITE_BORDER: rl.BLANK,

system/ui/widgets/keyboard.py

@@ -45,13 +45,13 @@
   "numbers": [
     ["1", "2", "3", "4", "5", "6", "7", "8", "9", "0"],
     ["-", "/", ":", ";", "(", ")", "$", "&", "@", "\""],
-    [SYMBOL_KEY, ".", ",", "?", "!", "`", BACKSPACE_KEY],
+    [SYMBOL_KEY, "_", ",", "?", "!", "`", BACKSPACE_KEY],
     [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
   ],
   "specials": [
     ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="],
     ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"],
-    [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY],
+    [NUMERIC_KEY, "-", ",", "?", "!", "'", BACKSPACE_KEY],
     [ABC_KEY, SPACE_KEY, ".", ENTER_KEY],
   ],
 }