132 lines
4.7 KiB
Python
Executable File
132 lines
4.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import numpy as np
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import matplotlib.pyplot as plt
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from functools import partial
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from tqdm import tqdm
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from typing import NamedTuple
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from openpilot.tools.lib.logreader import LogReader
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from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G
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RLOG_MIN_LAT_ACTIVE = 50
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RLOG_MIN_STEERING_UNPRESSED = 50
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RLOG_MIN_REQUESTING_MAX = 25 # sample many times after reaching max torque
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QLOG_DECIMATION = 10
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class Event(NamedTuple):
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lateral_accel: float
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speed: float
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roll: float
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timestamp: float # relative to start of route (s)
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def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) -> list[Event]:
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min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE
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min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED
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min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX
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# if we test with driver torque safety, max torque can be slightly noisy
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steer_threshold = 0.7 if extrapolate else 0.95
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events = []
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# state tracking
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steering_unpressed = 0 # frames
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requesting_max = 0 # frames
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lat_active = 0 # frames
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# current state
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curvature = 0
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v_ego = 0
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roll = 0
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out_torque = 0
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start_ts = 0
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for msg in lr:
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if msg.which() == 'carControl':
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if start_ts == 0:
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start_ts = msg.logMonoTime
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lat_active = lat_active + 1 if msg.carControl.latActive else 0
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elif msg.which() == 'carOutput':
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out_torque = msg.carOutput.actuatorsOutput.torque
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requesting_max = requesting_max + 1 if abs(out_torque) > steer_threshold else 0
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elif msg.which() == 'carState':
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steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0
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v_ego = msg.carState.vEgo
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elif msg.which() == 'controlsState':
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curvature = msg.controlsState.curvature
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elif msg.which() == 'liveParameters':
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roll = msg.liveParameters.roll
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if lat_active > min_lat_active and steering_unpressed > min_steering_unpressed and requesting_max > min_requesting_max:
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# TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it
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requesting_max = 0
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factor = 1 / abs(out_torque)
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current_lateral_accel = (curvature * v_ego ** 2 * factor) - roll * EARTH_G
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events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2)))
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print(events[-1])
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return events
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if __name__ == '__main__':
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parser = argparse.ArgumentParser(description="Find max lateral acceleration events",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("route", nargs='+')
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parser.add_argument("-e", "--extrapolate", action="store_true", help="Extrapolates max lateral acceleration events linearly. " +
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"This option can be far less accurate.")
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args = parser.parse_args()
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events = []
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for route in tqdm(args.route):
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try:
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lr = LogReader(route, sort_by_time=True)
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except Exception:
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print(f'Skipping {route}')
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continue
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qlog = route.endswith('/q')
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if qlog:
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print('WARNING: Treating route as qlog!')
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print('Finding events...')
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events += lr.run_across_segments(8, partial(find_events, extrapolate=args.extrapolate, qlog=qlog), disable_tqdm=True)
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print()
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print(f'Found {len(events)} events')
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perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0] or [0], 90)
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perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0] or [0], 90)
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CP = lr.first('carParams')
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plt.ion()
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plt.clf()
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plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events')
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plt.title(', '.join(args.route))
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plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events')
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plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2')
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plt.plot([0, 35], [-3, -3], c='r')
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plt.plot([0, 35], [perc_left_accel, perc_left_accel], c='g', linestyle='--', label='90th percentile left lateral accel')
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plt.plot([0, 35], [perc_right_accel, perc_right_accel], c='#ff7f0e', linestyle='--', label='90th percentile right lateral accel')
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plt.text(0.4, float(perc_left_accel + 0.4), f'{perc_left_accel:.2f} m/s^2', verticalalignment='center', fontsize=12)
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plt.text(0.4, float(perc_right_accel - 0.4), f'{perc_right_accel:.2f} m/s^2', verticalalignment='center', fontsize=12)
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plt.xlim(0, 35)
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plt.ylim(-5, 5)
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plt.xlabel('speed (m/s)')
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plt.ylabel('lateral acceleration (m/s^2)')
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plt.legend()
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plt.show(block=True)
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