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Long planner: small cleanup #32804

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Jun 20, 2024
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Long planner: small cleanup #32804

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17 changes: 7 additions & 10 deletions selfdrive/controls/lib/longitudinal_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,11 +44,10 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
return [a_target[0], min(a_target[1], a_x_allowed)]


def get_accel_from_plan(CP, long_plan):
speeds = long_plan.speeds
def get_accel_from_plan(CP, speeds, accels):
if len(speeds) == CONTROL_N:
v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, long_plan.accels)
a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)

v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
Expand Down Expand Up @@ -141,11 +140,9 @@ def update(self, sm):
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)

self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)

# TODO counter is only needed because radar is glitchy, remove once radar is gone
self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
Expand All @@ -154,7 +151,7 @@ def update(self, sm):

# Interpolate 0.05 seconds and save as starting point for next iteration
a_prev = self.a_desired
self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0

def publish(self, sm, pm):
Expand All @@ -179,7 +176,7 @@ def publish(self, sm, pm):
longitudinalPlan.longitudinalPlanSource = self.mpc.source
longitudinalPlan.fcw = self.fcw

a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan)
a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
longitudinalPlan.aTarget = a_target
longitudinalPlan.shouldStop = should_stop
longitudinalPlan.allowBrake = True
Expand Down
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