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MPC retune fix (commaai#380)
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* no heading cost

* no heading cost

* live mpc weight config

* need to add stds

* make work on empty data

* no divide by 0

* update refs

* update model replay

* update proc replat

* new model replay ref

* MPC retune for laneless fix

* was making wrong policy more aggresive

* allow to be set from simulator

* update refs

* put params together

Co-authored-by: HaraldSchafer <harald.the.engineer@gmail.com>
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@sshane @haraschax
sshane and haraschax committed Apr 18, 2021
1 parent f780948 commit 100fa78
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Showing 4 changed files with 35 additions and 30 deletions.
6 changes: 2 additions & 4 deletions selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ typedef struct {
double cost;
} log_t;

void init_weights(double pathCost, double headingCost, double steerRateCost){
void set_weights(double pathCost, double headingCost, double steerRateCost){
int i;
const int STEP_MULTIPLIER = 3.0;

Expand All @@ -44,7 +44,7 @@ void init_weights(double pathCost, double headingCost, double steerRateCost){
acadoVariables.WN[(NYN+1)*1] = headingCost * STEP_MULTIPLIER;
}

void init(double pathCost, double headingCost, double steerRateCost){
void init(){
acado_initializeSolver();
int i;

Expand All @@ -58,8 +58,6 @@ void init(double pathCost, double headingCost, double steerRateCost){

/* MPC: initialize the current state feedback. */
for (i = 0; i < NX; ++i) acadoVariables.x0[ i ] = 0.0;

init_weights(pathCost, headingCost, steerRateCost);
}

int run_mpc(state_t * x0, log_t * solution, double v_ego,
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4 changes: 2 additions & 2 deletions selfdrive/controls/lib/lateral_mpc/libmpc_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
double cost;
} log_t;
void init(double pathCost, double headingCost, double steerRateCost);
void init_weights(double pathCost, double headingCost, double steerRateCost);
void init();
void set_weights(double pathCost, double headingCost, double steerRateCost);
int run_mpc(state_t * x0, log_t * solution,
double v_ego, double rotation_radius,
double target_y[N+1], double target_psi[N+1]);
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16 changes: 12 additions & 4 deletions selfdrive/controls/lib/lateral_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,7 @@ def __init__(self, CP):
self.desire = log.LateralPlan.Desire.none

self.path_xyz = np.zeros((TRAJECTORY_SIZE,3))
self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3))
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
self.t_idxs = np.arange(TRAJECTORY_SIZE)
self.y_pts = np.zeros(TRAJECTORY_SIZE)
Expand All @@ -70,7 +71,7 @@ def __init__(self, CP):

def setup_mpc(self):
self.libmpc = libmpc_py.libmpc
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, self.steer_rate_cost)
self.libmpc.init()

self.mpc_solution = libmpc_py.ffi.new("log_t *")
self.cur_state = libmpc_py.ffi.new("state_t *")
Expand Down Expand Up @@ -103,6 +104,8 @@ def update(self, sm, CP, VM):
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
self.t_idxs = np.array(md.position.t)
self.plan_yaw = list(md.orientation.z)
if len(md.orientation.xStd) == TRAJECTORY_SIZE:
self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])

# Lane change logic
one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
Expand Down Expand Up @@ -173,10 +176,15 @@ def update(self, sm, CP, VM):
self.LP.rll_prob *= self.lane_change_ll_prob
if not self.model_laneless:
d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
self.libmpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
else:
d_path_xyz = self.path_xyz
y_pts = np.interp(v_ego * self.t_idxs[:MPC_N+1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
heading_pts = np.interp(v_ego * self.t_idxs[:MPC_N+1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
path_cost = np.clip(abs(self.path_xyz[0, 1] / self.path_xyz_stds[0, 1]), 0.5, 5.0) * MPC_COST_LAT.PATH
# Heading cost is useful at low speed, otherwise end of plan can be off-heading
heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
self.libmpc.set_weights(path_cost, heading_cost, CP.steerRateCost)
y_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
heading_pts = np.interp(v_ego * self.t_idxs[:MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
self.y_pts = y_pts

assert len(y_pts) == MPC_N + 1
Expand Down Expand Up @@ -220,7 +228,7 @@ def update(self, sm, CP, VM):
mpc_nans = any(math.isnan(x) for x in self.mpc_solution.curvature)
t = sec_since_boot()
if mpc_nans:
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
self.libmpc.init()
self.cur_state.curvature = measured_curvature

if t > self.last_cloudlog_t + 5.0:
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39 changes: 19 additions & 20 deletions selfdrive/modeld/models/driving.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -180,40 +180,39 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_da
}

void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float * data,
int columns, int column_offset, float * plan_t_arr) {
int columns, int column_offset, float * plan_t_arr, bool fill_std) {
float x_arr[TRAJECTORY_SIZE] = {};
float y_arr[TRAJECTORY_SIZE] = {};
float z_arr[TRAJECTORY_SIZE] = {};
//float x_std_arr[TRAJECTORY_SIZE];
//float y_std_arr[TRAJECTORY_SIZE];
//float z_std_arr[TRAJECTORY_SIZE];
float x_std_arr[TRAJECTORY_SIZE];
float y_std_arr[TRAJECTORY_SIZE];
float z_std_arr[TRAJECTORY_SIZE];
float t_arr[TRAJECTORY_SIZE];
for (int i=0; i<TRAJECTORY_SIZE; i++) {
// column_offset == -1 means this data is X indexed not T indexed
if (column_offset >= 0) {
t_arr[i] = T_IDXS[i];
x_arr[i] = data[i*columns + 0 + column_offset];
//x_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 0 + column_offset];
x_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 0 + column_offset];
} else {
t_arr[i] = plan_t_arr[i];
x_arr[i] = X_IDXS[i];
//x_std_arr[i] = NAN;
x_std_arr[i] = NAN;
}
y_arr[i] = data[i*columns + 1 + column_offset];
//y_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 1 + column_offset];
y_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 1 + column_offset];
z_arr[i] = data[i*columns + 2 + column_offset];
//z_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 2 + column_offset];
z_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 2 + column_offset];
}
//kj::ArrayPtr<const float> x_std(x_std_arr, TRAJECTORY_SIZE);
//kj::ArrayPtr<const float> y_std(y_std_arr, TRAJECTORY_SIZE);
//kj::ArrayPtr<const float> z_std(z_std_arr, TRAJECTORY_SIZE);
xyzt.setX(x_arr);
xyzt.setY(y_arr);
xyzt.setZ(z_arr);
//xyzt.setXStd(x_std);
//xyzt.setYStd(y_std);
//xyzt.setZStd(z_std);
xyzt.setT(t_arr);
if (fill_std) {
xyzt.setXStd(x_std_arr);
xyzt.setYStd(y_std_arr);
xyzt.setZStd(z_std_arr);
}
}

void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_outputs) {
Expand All @@ -224,17 +223,17 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou
plan_t_arr[i] = best_plan[i*PLAN_MHP_COLUMNS + 15];
}

fill_xyzt(framed.initPosition(), best_plan, PLAN_MHP_COLUMNS, 0, plan_t_arr);
fill_xyzt(framed.initVelocity(), best_plan, PLAN_MHP_COLUMNS, 3, plan_t_arr);
fill_xyzt(framed.initOrientation(), best_plan, PLAN_MHP_COLUMNS, 9, plan_t_arr);
fill_xyzt(framed.initOrientationRate(), best_plan, PLAN_MHP_COLUMNS, 12, plan_t_arr);
fill_xyzt(framed.initPosition(), best_plan, PLAN_MHP_COLUMNS, 0, plan_t_arr, true);
fill_xyzt(framed.initVelocity(), best_plan, PLAN_MHP_COLUMNS, 3, plan_t_arr, false);
fill_xyzt(framed.initOrientation(), best_plan, PLAN_MHP_COLUMNS, 9, plan_t_arr, false);
fill_xyzt(framed.initOrientationRate(), best_plan, PLAN_MHP_COLUMNS, 12, plan_t_arr, false);

// lane lines
auto lane_lines = framed.initLaneLines(4);
float lane_line_probs_arr[4];
float lane_line_stds_arr[4];
for (int i = 0; i < 4; i++) {
fill_xyzt(lane_lines[i], &net_outputs.lane_lines[i*TRAJECTORY_SIZE*2], 2, -1, plan_t_arr);
fill_xyzt(lane_lines[i], &net_outputs.lane_lines[i*TRAJECTORY_SIZE*2], 2, -1, plan_t_arr, false);
lane_line_probs_arr[i] = sigmoid(net_outputs.lane_lines_prob[i]);
lane_line_stds_arr[i] = exp(net_outputs.lane_lines[2*TRAJECTORY_SIZE*(4 + i)]);
}
Expand All @@ -245,7 +244,7 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou
auto road_edges = framed.initRoadEdges(2);
float road_edge_stds_arr[2];
for (int i = 0; i < 2; i++) {
fill_xyzt(road_edges[i], &net_outputs.road_edges[i*TRAJECTORY_SIZE*2], 2, -1, plan_t_arr);
fill_xyzt(road_edges[i], &net_outputs.road_edges[i*TRAJECTORY_SIZE*2], 2, -1, plan_t_arr, false);
road_edge_stds_arr[i] = exp(net_outputs.road_edges[2*TRAJECTORY_SIZE*(2 + i)]);
}
framed.setRoadEdgeStds(road_edge_stds_arr);
Expand Down

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