test

hhxjqm · hhxjqm · commit af716331d322 · 2025-04-19T16:15:30.000Z
diff --git a/GEMstack/onboard/planning/stanley.py b/GEMstack/onboard/planning/stanley.py
@@ -0,0 +1,312 @@
+import numpy as np
+from math import sin, cos, atan2
+
+# These imports match your existing project structure
+from ...mathutils.control import PID
+from ...utils import settings
+from ...mathutils import transforms
+from ...knowledge.vehicle.geometry import front2steer
+from ...knowledge.vehicle.dynamics import acceleration_to_pedal_positions
+from ...state.vehicle import VehicleState, ObjectFrameEnum
+from ...state.trajectory import Path, Trajectory
+from ..interface.gem import GEMVehicleCommand
+from ..component import Component
+
+#####################################
+# 1. Angle normalization
+#####################################
+def normalise_angle(angle):
+    """Wraps an angle to the [-pi, pi] range."""
+    while angle > np.pi:
+        angle -= 2.0 * np.pi
+    while angle < -np.pi:
+        angle += 2.0 * np.pi
+    return angle
+
+#####################################
+# 2. Stanley-based controller with longitudinal PID
+#####################################
+class Stanley(object):
+    """
+    A Stanley controller that handles lateral control (steering)
+    plus a basic longitudinal control (PID + optional feedforward).
+    It has been modified to reduce oscillations by:
+      1) Lower gains
+      2) Steering damping
+      3) Low-pass filter on steering
+      4) Gentler speed logic when cornering
+    """
+
+    def __init__(
+        self,
+        control_gain=None,
+        softening_gain=None,
+        desired_speed=None
+    ):
+        """
+        :param control_gain:       Stanley lateral control gain k (lowered from the default to reduce overshoot).
+        :param softening_gain:     Softening gain k_soft.
+        :param yaw_rate_gain:      Yaw-rate gain k_yaw_rate (helps reduce oscillations).
+        :param steering_damp_gain: Steering damping gain k_damp_steer.
+        :param desired_speed:      Desired speed (float) or 'path'/'trajectory'.
+        """
+
+        # 1) Lower Gains
+        self.k = control_gain if control_gain is not None else settings.get('control.stanley.control_gain')
+        self.k_soft = softening_gain if softening_gain is not None else settings.get('control.stanley.softening_gain')
+
+        # Typically, this is the max front-wheel steering angle in radians
+        self.max_steer = settings.get('vehicle.geometry.max_wheel_angle')
+        self.wheelbase = settings.get('vehicle.geometry.wheelbase')
+
+        # Basic longitudinal constraints
+        self.speed_limit = settings.get('vehicle.limits.max_speed')
+        self.max_accel   = settings.get('vehicle.limits.max_acceleration')
+        self.max_decel   = settings.get('vehicle.limits.max_deceleration')
+
+        # PID for longitudinal speed tracking
+        p = settings.get('control.longitudinal_control.pid_p')
+        d = settings.get('control.longitudinal_control.pid_d')
+        i = settings.get('control.longitudinal_control.pid_i')
+        self.pid_speed = PID(p, d, i, windup_limit=20)
+
+        # Speed source: numeric or derived from path/trajectory
+        if desired_speed is not None:
+            self.desired_speed_source = desired_speed
+        else:
+            self.desired_speed_source = settings.get('control.stanley.desired_speed', 'path')
+
+        if isinstance(self.desired_speed_source, (int, float)):
+            self.desired_speed = self.desired_speed_source
+        else:
+            self.desired_speed = None
+
+        # For path/trajectory
+        self.path_arg = None
+        self.path = None
+        self.trajectory = None
+        self.current_path_parameter = 0.0
+        self.current_traj_parameter = 0.0
+        self.t_last = None
+
+    def set_path(self, path: Path):
+        """Sets the path or trajectory to track."""
+        if path == self.path_arg:
+            return
+        self.path_arg = path
+
+        # If the path has more than 2D, reduce to (x,y)
+        if len(path.points[0]) > 2:
+            path = path.get_dims([0,1])
+
+        # If no timing info, we can't rely on 'path'/'trajectory' speed
+        if not isinstance(path, Trajectory):
+            self.path = path.arc_length_parameterize()
+            self.trajectory = None
+            self.current_traj_parameter = 0.0
+            if self.desired_speed_source in ['path', 'trajectory']:
+                raise ValueError("Stanley: Provided path has no timing. Either provide a Trajectory or set a constant desired_speed.")
+        else:
+            self.path = path.arc_length_parameterize()
+            self.trajectory = path
+            self.current_traj_parameter = self.trajectory.domain()[0]
+
+        self.current_path_parameter = 0.0
+
+    def _find_front_axle_position(self, x, y, yaw):
+        """Compute front-axle world position from the center/rear and yaw."""
+        fx = x + self.wheelbase * cos(yaw)
+        fy = y + self.wheelbase * sin(yaw)
+        return fx, fy
+
+    def compute(self, state: VehicleState, component: Component = None):
+        """Compute the control outputs: (longitudinal acceleration, front wheel angle)."""
+        t = state.pose.t
+        if self.t_last is None:
+            self.t_last = t
+        dt = t - self.t_last
+
+        # Current vehicle states
+        curr_x = state.pose.x
+        curr_y = state.pose.y
+        curr_yaw = state.pose.yaw if state.pose.yaw is not None else 0.0
+        speed = state.v
+
+        if self.path is None:
+            if component:
+                component.debug_event("No path provided to Stanley controller. Doing nothing.")
+            return (0.0, 0.0)
+
+        # Ensure same frame
+        if self.path.frame != state.pose.frame:
+            if component:
+                component.debug_event(f"Transforming path from {self.path.frame.name} to {state.pose.frame.name}")
+            self.path = self.path.to_frame(state.pose.frame, current_pose=state.pose)
+
+        if self.trajectory and self.trajectory.frame != state.pose.frame:
+            if component:
+                component.debug_event(f"Transforming trajectory from {self.trajectory.frame.name} to {state.pose.frame.name}")
+            self.trajectory = self.trajectory.to_frame(state.pose.frame, current_pose=state.pose)
+
+        # 1) Closest point
+        fx, fy = self._find_front_axle_position(curr_x, curr_y, curr_yaw)
+        search_start = self.current_path_parameter - 5.0
+        search_end   = self.current_path_parameter + 5.0
+        closest_dist, closest_parameter = self.path.closest_point_local((fx, fy), [search_start, search_end])
+        self.current_path_parameter = closest_parameter
+
+        # 2) Path heading
+        target_x, target_y = self.path.eval(closest_parameter)
+        tangent = self.path.eval_tangent(closest_parameter)
+        path_yaw = atan2(tangent[1], tangent[0])
+        desired_x = target_x
+        desired_y = target_y
+        # 3) Lateral error
+        dx = fx - target_x
+        dy = fy - target_y
+        left_vec = np.array([sin(curr_yaw), -cos(curr_yaw)])
+        cross_track_error = np.sign(np.dot(np.array([dx, dy]), left_vec)) * closest_dist
+
+        # 4) Heading error
+        yaw_error = normalise_angle(path_yaw - curr_yaw)
+
+        # 5) Standard Stanley terms
+        cross_term = atan2(self.k * cross_track_error, self.k_soft + speed)
+        desired_steering_angle = yaw_error + cross_term
+
+        desired_speed = self.desired_speed
+        feedforward_accel = 0.0
+
+        if self.trajectory and self.desired_speed_source in ['path', 'trajectory']:
+            if len(self.trajectory.points) < 2 or self.current_path_parameter >= self.path.domain()[1]:
+                # End of trajectory -> stop
+                if component:
+                    component.debug_event("Stanley: Past the end of trajectory, stopping.")
+                desired_speed = 0.0
+                feedforward_accel = -2.0
+            else:
+                if self.desired_speed_source == 'path':
+                    current_trajectory_time = self.trajectory.parameter_to_time(self.current_path_parameter)
+                else:
+                    self.current_traj_parameter += dt
+                    current_trajectory_time = self.current_traj_parameter
+
+                deriv = self.trajectory.eval_derivative(current_trajectory_time)
+                desired_speed = min(np.linalg.norm(deriv), self.speed_limit)
+
+                difference_dt = 0.1
+                future_t = current_trajectory_time + difference_dt
+                if future_t > self.trajectory.domain()[1]:
+                    future_t = self.trajectory.domain()[1]
+                future_deriv = self.trajectory.eval_derivative(future_t)
+                next_desired_speed = min(np.linalg.norm(future_deriv), self.speed_limit)
+                feedforward_accel = (next_desired_speed - desired_speed) / difference_dt
+                feedforward_accel = np.clip(feedforward_accel, -self.max_decel, self.max_accel)
+        else:
+            if desired_speed is None:
+                desired_speed = 4.0
+
+            # Cross-track-based slowdown (less aggressive than before).
+            desired_speed *= np.exp(-abs(cross_track_error) * 0.6)
+
+        # Clip to speed limit
+        if desired_speed > self.speed_limit:
+            desired_speed = self.speed_limit
+
+        # PID for longitudinal control
+        speed_error = desired_speed - speed
+        output_accel = self.pid_speed.advance(e=speed_error, t=t, feedforward_term=feedforward_accel)
+
+        # Clip acceleration
+        if output_accel > self.max_accel:
+            output_accel = self.max_accel
+        elif output_accel < -self.max_decel:
+            output_accel = -self.max_decel
+
+        # Avoid negative accel when fully stopped
+        if desired_speed == 0 and abs(speed) < 0.01 and output_accel < 0:
+            output_accel = 0.0
+
+        # Debug
+        if component is not None:
+            # component.debug("Stanley: fx, fy", (fx, fy))
+            component.debug('curr pt',(curr_x,curr_y))
+            component.debug("desired_x",desired_x)
+            component.debug("desired_y",desired_y)
+            component.debug("Stanley: path param", self.current_path_parameter)
+            component.debug("Stanley: crosstrack dist", closest_dist)
+            component.debug("crosstrack error", cross_track_error)
+            component.debug("Stanley: yaw_error", yaw_error)
+            component.debug('steering_angle', desired_steering_angle)
+            component.debug("Stanley: desired_speed (m/s)", desired_speed)
+            component.debug("Stanley: feedforward_accel (m/s^2)", feedforward_accel)
+            component.debug("Stanley: output_accel (m/s^2)", output_accel)
+
+        if output_accel > self.max_accel:
+            output_accel = self.max_accel
+
+        if output_accel < -self.max_decel:
+            output_accel = -self.max_decel
+            
+        self.t_last = t
+        return (output_accel, desired_steering_angle)
+
+#####################################
+# 3. Tracker component
+#####################################
+class StanleyTrajectoryTracker(Component):
+    """
+    A trajectory-tracking Component that uses the above Stanley controller
+    for lateral control plus PID-based longitudinal control.
+    It now includes measures to mitigate oscillations.
+    """
+
+    def __init__(self, vehicle_interface=None, **kwargs):
+        """
+        :param vehicle_interface: The low-level interface to send commands to the vehicle.
+        :param kwargs: Optional parameters to pass into the Stanley(...) constructor.
+        """
+        self.stanley = Stanley(**kwargs)
+        self.vehicle_interface = vehicle_interface
+
+    def rate(self):
+        """Control frequency in Hz."""
+        return 50.0
+
+    def state_inputs(self):
+        """
+        Required state inputs:
+        - Vehicle state
+        - Trajectory
+        """
+        return ["vehicle", "trajectory"]
+
+    def state_outputs(self):
+        """No direct output state here."""
+        return []
+
+    def update(self, vehicle: VehicleState, trajectory: Trajectory):
+        """
+        Per control cycle:
+          1) Set the path/trajectory
+          2) Compute (acceleration, front wheel angle)
+          3) Convert front wheel angle to steering wheel angle (if necessary)
+          4) Send command to the vehicle
+        """
+        self.stanley.set_path(trajectory)
+        accel, f_delta = self.stanley.compute(vehicle, self)
+
+        # If your low-level interface expects steering wheel angle:
+        steering_angle = front2steer(f_delta)
+        steering_angle = np.clip(
+            steering_angle,
+            settings.get('vehicle.geometry.min_steering_angle', -0.5),
+            settings.get('vehicle.geometry.max_steering_angle',  0.5)
+        )
+
+        cmd = self.vehicle_interface.simple_command(accel, steering_angle, vehicle)
+        self.vehicle_interface.send_command(cmd)
+
+    def healthy(self):
+        """Optional: check if the controller has a valid path."""
+        return self.stanley.path is not None
