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Improve VM dynamic sol accuracy #391

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merged 2 commits into from
Oct 30, 2018
Merged

Improve VM dynamic sol accuracy #391

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919dc00
use solve and eye func
dek3rr Oct 9, 2018
de252d5
remove uneeded import from vehicle model
pd0wm Oct 30, 2018
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6 changes: 3 additions & 3 deletions selfdrive/controls/lib/vehicle_model.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#!/usr/bin/env python
import numpy as np
from numpy.linalg import inv
from numpy.linalg import solve

# dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"##
# Xdot = A*X + B*U
Expand Down Expand Up @@ -33,7 +33,7 @@ def kin_ss_sol(sa, u, VM):
def dyn_ss_sol(sa, u, VM):
# Dynamic solution, useful when speed > 0
A, B = create_dyn_state_matrices(u, VM)
return - np.matmul(inv(A), B) * sa
return - solve(A, B) * sa


def calc_slip_factor(VM):
Expand Down Expand Up @@ -87,7 +87,7 @@ def state_prediction(self, sa, u):
# U is the matrix of the controls
# u is the long speed
A, B = create_dyn_state_matrices(u, self)
return np.matmul((A * self.dt + np.identity(2)), self.state) + B * sa * self.dt
return np.matmul((A * self.dt + np.eye(2)), self.state) + B * sa * self.dt

def yaw_rate(self, sa, u):
return self.calc_curvature(sa, u) * u
Expand Down