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e2e long planner: use position, speed and accel #22688

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Merged
haraschax merged 2 commits into from
Oct 25, 2021
Merged

e2e long planner: use position, speed and accel #22688

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091d1ce
a little bit more moderate
haraschax Oct 23, 2021
a243713
cleaner
haraschax Oct 25, 2021
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14 changes: 9 additions & 5 deletions selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,13 @@

X_DIM = 3
U_DIM = 1
COST_E_DIM = 3
COST_E_DIM = 4
COST_DIM = COST_E_DIM + 1
CONSTR_DIM = 4

X_EGO_COST = 3.
X_EGO_E2E_COST = 10.
X_EGO_OBSTACLE_COST = 3.
V_EGO_COST = 0.
X_EGO_COST = 0.
A_EGO_COST = 0.
J_EGO_COST = 10.
DANGER_ZONE_COST = 100.
Expand Down Expand Up @@ -124,6 +125,7 @@ def gen_long_mpc_solver():
# instead.
costs = [((x_obstacle - x_ego) - (desired_dist_comfort)) / (v_ego + 10.),
x_ego,
v_ego,
a_ego,
j_ego]
ocp.model.cost_y_expr = vertcat(*costs)
Expand Down Expand Up @@ -213,7 +215,7 @@ def set_weights(self):
self.set_weights_for_lead_policy()

def set_weights_for_lead_policy(self):
W = np.diag([X_EGO_COST, 0.0, A_EGO_COST, J_EGO_COST])
W = np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, J_EGO_COST])
Ws = np.tile(W[None], reps=(N,1,1))
self.solver.cost_set_slice(0, N, 'W', Ws, api='old')
# Setting the slice without the copy make the array not contiguous,
Expand All @@ -226,7 +228,7 @@ def set_weights_for_lead_policy(self):
self.solver.cost_set_slice(0, N+1, 'Zl', Zls, api='old')

def set_weights_for_xva_policy(self):
W = np.diag([0.0, X_EGO_E2E_COST, 0., J_EGO_COST])
W = np.diag([0., 10., 1., 10., 1.])
Ws = np.tile(W[None], reps=(N,1,1))
self.solver.cost_set_slice(0, N, 'W', Ws, api='old')
# Setting the slice without the copy make the array not contiguous,
Expand Down Expand Up @@ -321,6 +323,8 @@ def update(self, carstate, radarstate, v_cruise):

def update_with_xva(self, x, v, a):
self.yref[:,1] = x
self.yref[:,2] = v
self.yref[:,3] = a
self.solver.cost_set_slice(0, N, "yref", self.yref[:N], api='old')
self.solver.set(N, "yref", self.yref[N][:COST_E_DIM])
self.accel_limit_arr[:,0] = -10.
Expand Down