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E2e long plan #34291

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E2e long plan #34291

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Use raw plan
haraschax Nov 28, 2024
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typo
haraschax Nov 28, 2024
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haraschax Dec 19, 2024
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haraschax Dec 20, 2024
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haraschax Dec 20, 2024
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11 changes: 9 additions & 2 deletions selfdrive/controls/lib/longitudinal_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
self.solverExecutionTime = 0.0
self.mode = 'acc'

@staticmethod
def parse_model(model_msg, model_error):
Expand All @@ -105,7 +106,7 @@ def parse_model(model_msg, model_error):
return x, v, a, j, throttle_prob

def update(self, sm):
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'

if len(sm['carControl'].orientationNED) == 3:
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
Expand All @@ -128,7 +129,7 @@ def update(self, sm):
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)

if self.mpc.mode == 'acc':
if self.mode == 'acc':
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
Expand Down Expand Up @@ -200,6 +201,12 @@ def publish(self, sm, pm):
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
if self.mode == 'blended':
a_target_e2e, should_stop_e2e = get_accel_from_plan(list(sm['modelV2'].velocity.x)[:CONTROL_N],
list(sm['modelV2'].acceleration.x)[:CONTROL_N],
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
a_target = min(a_target, a_target_e2e)
should_stop = should_stop or should_stop_e2e
longitudinalPlan.aTarget = a_target
longitudinalPlan.shouldStop = should_stop
longitudinalPlan.allowBrake = True
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/modeld/models/supercombo.onnx
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