diff --git a/control/smart_mpc_trajectory_follower/.gitignore b/control/smart_mpc_trajectory_follower/.gitignore new file mode 100644 index 0000000000000..d914a0aa99e5a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/.gitignore @@ -0,0 +1,3 @@ +# Files generated when installing smart_mpc_trajectory_follower +build/ +*.egg-info/ diff --git a/control/smart_mpc_trajectory_follower/CMakeLists.txt b/control/smart_mpc_trajectory_follower/CMakeLists.txt new file mode 100644 index 0000000000000..7aecab2597dcd --- /dev/null +++ b/control/smart_mpc_trajectory_follower/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.14) +project(smart_mpc_trajectory_follower) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +install(PROGRAMS + smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py + DESTINATION lib/${PROJECT_NAME} +) +ament_auto_package( + INSTALL_TO_SHARE +) diff --git a/control/smart_mpc_trajectory_follower/README.md b/control/smart_mpc_trajectory_follower/README.md new file mode 100644 index 0000000000000..8fcc13142d68b --- /dev/null +++ b/control/smart_mpc_trajectory_follower/README.md @@ -0,0 +1,338 @@ +

+ + + +

+ + +# Smart MPC Trajectory Follower + +Smart MPC (Model Predictive Control) is a control algorithm that combines model predictive control and machine learning. While inheriting the advantages of model predictive control, it solves its disadvantage of modeling difficulty with a data-driven method using machine learning. + +This technology makes it relatively easy to operate model predictive control, which is expensive to implement, as long as an environment for collecting data can be prepared. + +

+ + + +

+ +## Setup + +After building autoware, move to `control/smart_mpc_trajectory_follower` and run the following command: + +```bash +pip3 install . +``` + +If you have already installed and want to update the package, run the following command instead: + +```bash +pip3 install -U . +``` + +## Provided features + +This package provides smart MPC logic for path-following control as well as mechanisms for learning and evaluation. These features are described below. + +### Trajectory following control based on iLQR/MPPI + +The control mode can be selected from "ilqr", "mppi", or "mppi_ilqr", and can be set as `mpc_parameter:system:mode` in [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml). +In "mppi_ilqr" mode, the initial value of iLQR is given by the MPPI solution. + +> [!NOTE] +> With the default settings, the performance of "mppi" mode is limited due to an insufficient number of samples. This issue is being addressed with ongoing work to introduce GPU support. + +To perform a simulation, run the following command: + +```bash +ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit trajectory_follower_mode:=smart_mpc_trajectory_follower +``` + +> [!NOTE] +> When running with the nominal model set in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml), set `trained_model_parameter:control_application:use_trained_model` to `false` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). To run using the trained model, set `trained_model_parameter:control_application:use_trained_model` to `true`, but the trained model must have been generated according to the following procedure. + +### Training of model and reflection in control + +To obtain training data, start autoware, perform a drive, and record rosbag data with the following commands. + +```bash +ros2 bag record /localization/kinematic_state /localization/acceleration /vehicle/status/steering_status /control/command/control_cmd /control/trajectory_follower/control_cmd /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw /system/operation_mode/state /vehicle/status/control_mode /sensing/imu/imu_data /debug_mpc_x_des /debug_mpc_y_des /debug_mpc_v_des /debug_mpc_yaw_des /debug_mpc_acc_des /debug_mpc_steer_des /debug_mpc_X_des_converted /debug_mpc_x_current /debug_mpc_error_prediction /debug_mpc_max_trajectory_err /debug_mpc_emergency_stop_mode /debug_mpc_goal_stop_mode /debug_mpc_total_ctrl_time /debug_mpc_calc_u_opt_time +``` + +Move [rosbag2.bash](./smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash) to the rosbag directory recorded above and execute the following command on the directory + +```bash +bash rosbag2.bash +``` + +This converts rosbag data into CSV format for training models. + +> [!NOTE] +> Note that a large number of terminals are automatically opened at runtime, but they are automatically closed after rosbag data conversion is completed. +> From the time you begin this process until all terminals are closed, autoware should not be running. + +Instead, the same result can be obtained by executing the following command in a python environment: + +```python +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.transform_rosbag_to_csv(rosbag_dir) +``` + +Here, `rosbag_dir` represents the rosbag directory. +At this time, all CSV files in `rosbag_dir` are automatically deleted first. + +The paths of the rosbag directories used for training, `dir_0`, `dir_1`, `dir_2`,... and the directory `save_dir` where you save the models, the model can be saved in the python environment as follows: + +```python +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(dir_0) +model_trainer.add_data_from_csv(dir_1) +model_trainer.add_data_from_csv(dir_2) +... +model_trainer.get_trained_model() +model_trainer.save_models(save_dir) +``` + +After performing the polynomial regression, the NN can be trained on the residuals as follows: + +```python +model_trainer.get_trained_model(use_polynomial_reg=True) +``` + +> [!NOTE] +> In the default setting, regression is performed by several preselected polynomials. +> When `use_selected_polynomial=False` is set as the argument of get_trained_model, the `deg` argument allows setting the maximum degree of the polynomial to be used. + +If only polynomial regression is performed and no NN model is used, run the following command: + +```python +model_trainer.get_trained_model(use_polynomial_reg=True,force_NN_model_to_zero=True) +``` + +Move `model_for_test_drive.pth` and `polynomial_reg_info.npz` saved in `save_dir` to the home directory and set `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) to `true` to reflect the trained model in the control. + +### Performance evaluation + +Here, as an example, we describe the verification of the adaptive performance when the wheel base of the sample_vehicle is 2.79 m, but an incorrect value of 2.0 m is given to the controller side. +To give the controller 2.0 m as the wheel base, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.0, and run the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +#### Test on autoware + +To perform a control test on autoware with the nominal model before training, make sure that `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) is `false` and launch autoware in the manner described in "Trajectory following control based on iLQR/MPPI". This time, the following route will be used for the test: + +

+ +Record rosbag and train the model in the manner described in "Training of model and reflection in control", and move the generated files `model_for_test_drive.pth` and `polynomial_reg_info.npz` to the home directory. + +> [!NOTE] +> Although the data used for training is small, for the sake of simplicity, we will see how much performance can be improved with this amount of data. + +To control using the trained model obtained here, set `trained_model_parameter:control_application:use_trained_model` to `true`, start autoware in the same way, and drive the same route recording rosbag. +After the driving is complete, convert the rosbag file to CSV format using the method described in "Training of model and reflection in control". +A plot of the lateral deviation is obtained by running the `lateral_error_visualize` function in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb` for the nominal and training model rosbag files `rosbag_nominal` and `rosbag_trained`, respectively, as follows: + +```python +lateral_error_visualize(dir_name=rosbag_nominal,ylim=[-1.2,1.2]) +lateral_error_visualize(dir_name=rosbag_trained,ylim=[-1.2,1.2]) +``` + +The following results were obtained. + +
+ + +
+ +#### Test on python simulator + +First, to give wheel base 2.79 m in the python simulator, create the following file and save it in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` with the name `sim_setting.json`: + +```json +{ "wheel_base": 2.79 } +``` + +Next, run the following commands to test the slalom driving on the python simulator with the nominal model: + +```python +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +initial_error = [0.0, 0.03, 0.01, -0.01, 0.0, 0.0] +save_dir = "test_python_sim" +python_simulator.slalom_drive(save_dir=save_dir,use_trained_model=False,initial_error=initial_error) +``` + +Here, `initial_error` is the initial error from the target trajectory, in the order of x-coordinate, y-coordinate, longitudinal velocity, yaw angle, longitudinal acceleration, and steer angle, +and `save_dir` is the directory where the driving test results are saved. + +> [!NOTE] +> The value of `use_trained_model` given as the argument of `python_simulator.slalom_drive` takes precedence over the value of `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). + +Run the following commands to perform training using driving data of the nominal model. + +```python +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(save_dir) +model_trainer.save_train_data(save_dir) +model_trainer.get_trained_model(use_polynomial_reg=True) +model_trainer.save_models(save_dir=save_dir) +``` + +This way, files `model_for_test_drive.pth` and `polynomial_reg_info.npz` are saved in `save_dir`. +The following results were obtained. + +

+ +

+ +The center of the upper row represents the lateral deviation. + +Finally, to drive with the training model, run the following commands: + +```python +load_dir = save_dir +save_dir = "test_python_trained_sim" +python_simulator.slalom_drive(save_dir=save_dir,load_dir=load_dir,use_trained_model=True,initial_error=initial_error) +``` + +The following results were obtained. + +

+ +

+ +It can be seen that the lateral deviation has improved significantly. + +Here we have described wheel base, but the parameters that can be passed to the python simulator are as follows. + +| Parameter | Type | Description | +| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| steer_bias | float | steer bias [rad] | +| steer_rate_lim | float | steer rate limit [rad/s] | +| vel_rate_lim | float | acceleration limit [m/s^2] | +| wheel_base | float | wheel base [m] | +| steer_dead_band | float | steer dead band [rad] | +| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. | +| acc_time_delay | float | acceleration time delay [s] | +| steer_time_delay | float | steer time delay [s] | +| acc_time_constant | float | acceleration time constant [s] | +| steer_time_constant | float | steer time constant [s] | +| accel_map_scale | float | Parameter that magnifies the corresponding distortion from acceleration input values to actual acceleration realizations.
Correspondence information is kept in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv`. | +| acc_scaling | float | acceleration scaling | +| steer_scaling | float | steer scaling | + +For example, to give the simulation side 0.01 [rad] of steer bias and 0.001 [rad] of steer dead band, edit the `sim_setting.json` as follows. + +```json +{ "steer_bias": 0.01, "steer_dead_band": 0.001 } +``` + +#### Auto test on python simulator + +Here, we describe a method for testing adaptive performance by giving the simulation side a predefined range of model parameters while the control side is given constant model parameters. + +First, to restore nominal model settings to default values, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.79, and run the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +To run a driving experiment within the parameter change range set in [run_sim.py](./smart_mpc_trajectory_follower/python_simulator/run_sim.py), for example, move to `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` and run the following command: + +```bash +python3 run_sim.py --param_name steer_bias +``` + +Here we described the experimental procedure for steer bias, and the same method can be used for other parameters. + +If you want to do it for all parameters at once, run the following command: + +```bash +yes | python3 run_sim.py +``` + +In `run_sim.py`, the following parameters can be set: + +| Parameter | Type | Description | +| ------------------------- | ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| USE_TRAINED_MODEL_DIFF | bool | Whether the derivative of the trained model is reflected in the control | +| DATA_COLLECTION_MODE | str | Which method will be used to collect the training data　
"ff": Straight line driving with feed-forward input
"pp": Figure eight driving with pure pursuit control
"mpc": Slalom driving with mpc | +| USE_POLYNOMIAL_REGRESSION | bool | Whether to perform polynomial regression before NN | +| USE_SELECTED_POLYNOMIAL | bool | When USE_POLYNOMIAL_REGRESSION is True, perform polynomial regression using only some preselected polynomials.
The choice of polynomials is intended to be able to absorb the contribution of some parameter shifts based on the nominal model of the vehicle. | +| FORCE_NN_MODEL_TO_ZERO | bool | Whether to force the NN model to zero (i.e., erase the contribution of the NN model).
When USE_POLYNOMIAL_REGRESSION is True, setting FORCE_MODEL_TO_ZERO to True allows the control to reflect the results of polynomial regression only, without using NN models. | +| FIT_INTERCEPT | bool | Whether to include bias in polynomial regression.
If it is False, perform the regression with a polynomial of the first degree or higher. | +| USE_INTERCEPT | bool | When a polynomial regression including bias is performed, whether to use or discard the resulting bias information.
It is meaningful only if FIT_INTERCEPT is True.
If it is False, discard the bias in the polynomial regression in the hope that the NN model can remove the bias term, even if the polynomial regression is performed with the bias included. | + +> [!NOTE] +> When `run_sim.py` is run, the `use_trained_model_diff` set in `run_sim.py` takes precedence over the `trained_model_parameter:control_application:use_trained_model_diff` set in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). + +## Change of nominal parameters and their reloading + +The nominal parameters of vehicle model can be changed by editing the file [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml). +After changing the nominal parameters, the cache must be deleted by running the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +The nominal parameters include the following: + +| Parameter | Type | Description | +| ------------------------------------------------ | ----- | ------------------------------ | +| nominal_parameter:vehicle_info:wheel_base | float | wheel base [m] | +| nominal_parameter:acceleration:acc_time_delay | float | acceleration time delay [s] | +| nominal_parameter:acceleration:acc_time_constant | float | acceleration time constant [s] | +| nominal_parameter:steering:steer_time_delay | float | steer time delay [s] | +| nominal_parameter:steering:steer_time_constant | float | steer time constant [s] | + +## Change of control parameters and their reloading + +The control parameters can be changed by editing files [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml) and [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). +Although it is possible to reflect parameter changes by restarting autoware, the following command allows us to do so without leaving autoware running: + +```bash +ros2 topic pub /pympc_reload_mpc_param_trigger std_msgs/msg/String "data: ''" --once +``` + +The main parameters among the control parameters are as follows. + +### `mpc_param.yaml` + +| Parameter | Type | Description | +| ------------------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| mpc_parameter:system:mode | str | control mode
"ilqr": iLQR mode
"mppi": MPPI mode
"mppi_ilqr": the initial value of iLQR is given by the MPPI solution. | +| mpc_parameter:cost_parameters:Q | list[float] | Stage cost for states.
List of length 8, in order: straight deviation, lateral deviation, velocity deviation, yaw angle deviation, acceleration deviation, steer deviation, acceleration input deviation, steer input deviation cost weights. | +| mpc_parameter:cost_parameters:Q_c | list[float] | Cost in the horizon corresponding to the following timing_Q_c for the states.
The correspondence of the components of the list is the same as for Q. | +| mpc_parameter:cost_parameters:Q_f | list[float] | Termination cost for the states.
The correspondence of the components of the list is the same as for Q. | +| mpc_parameter:cost_parameters:R | list[float] | A list of length 2 where R[0] is weight of cost for the change rate of acceleration input value and R[1] is weight of cost for the change rate of steer input value. | +| mpc_parameter:mpc_setting:timing_Q_c | list[int] | Horizon numbers such that the stage cost for the states is set to Q_c. | + +### `trained_model_param.yaml` + +| Parameter | Type | Description | +| ------------------------------------------------------------------ | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| trained_model_parameter:control_application:use_trained_model | bool | Whether the trained model is reflected in the control or not. | +| trained_model_parameter:control_application:use_trained_model_diff | bool | Whether the derivative of the trained model is reflected on the control or not.
It is meaningful only when use_trained_model is True, and if False, the nominal model is used for the derivative of the dynamics, and trained model is used only for prediction. | + +## Request to release the slow stop mode + +If the predicted trajectory deviates too far from the target trajectory, the system enters a slow stop mode and the vehicle stops moving. +To cancel the slow stop mode and make the vehicle ready to run again, run the following command: + +```bash +ros2 topic pub /pympc_stop_mode_reset_request std_msgs/msg/String "data: ''" --once +``` + +## Limitation + +- May not be able to start when initial position/posture is far from the target. + +- It may take some time until the end of the planning to compile numba functions at the start of the first control. + +- In the stopping action near the goal our control switches to another simple control law. As a result, the stopping action may not work except near the goal. 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autoware_auto_system_msgs + autoware_auto_vehicle_msgs + motion_utils + pybind11_vendor + python3-scipy + rclcpp + rclcpp_components + tier4_autoware_utils + + ros2launch + + ament_cmake_ros + ament_index_python + ament_lint_auto + autoware_lint_common + autoware_testing + ros_testing + + + ament_cmake + + diff --git a/control/smart_mpc_trajectory_follower/setup.py b/control/smart_mpc_trajectory_follower/setup.py new file mode 100644 index 0000000000000..4dca4d72929a8 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/setup.py @@ -0,0 +1,37 @@ +# cspell: ignore numba +import glob +import json +import os +from pathlib import Path + +from setuptools import find_packages +from setuptools import setup + +os.system("pip3 install numba==0.58.1 --force-reinstall") +os.system("pip3 install pybind11") +os.system("pip3 install GPy") +os.system("pip3 install torch") +package_path = {} +package_path["path"] = str(Path(__file__).parent) +with open("smart_mpc_trajectory_follower/package_path.json", "w") as f: + json.dump(package_path, f) +build_cpp_command = "g++ -Ofast -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) " +build_cpp_command += "smart_mpc_trajectory_follower/scripts/proxima_calc.cpp " +build_cpp_command += ( + "-o smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) " +) +build_cpp_command += "-lrt -I/usr/include/eigen3" +os.system(build_cpp_command) + +so_path = ( + "scripts/" + + glob.glob("smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[-1] +) +setup( + name="smart_mpc_trajectory_follower", + version="1.0.0", + packages=find_packages(), + package_data={ + "smart_mpc_trajectory_follower": ["package_path.json", so_path], + }, +) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore new file mode 100644 index 0000000000000..2d04606a236d6 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore @@ -0,0 +1,2 @@ +__pycache__/ +*.json diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py new file mode 100644 index 0000000000000..fafcb5bdecf05 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py @@ -0,0 +1,31 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +from pathlib import Path +import shutil + +import smart_mpc_trajectory_follower + +if __name__ == "__main__": + package_dir = str(Path(smart_mpc_trajectory_follower.__file__).parent) + + remove_dirs = [ + package_dir + "/__pycache__", + package_dir + "/scripts/__pycache__", + package_dir + "/training_and_data_check/__pycache__", + ] + for i in range(len(remove_dirs)): + if os.path.isdir(remove_dirs[i]): + shutil.rmtree(remove_dirs[i]) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml new file mode 100644 index 0000000000000..710d1cc992949 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml @@ -0,0 +1,56 @@ +mpc_parameter: + system: + mode: mppi_ilqr # option: ilqr, mppi, mppi_ilqr + mpc_setting: + ctrl_time_step: 0.03333 + mpc_freq: 3 + N: 50 + steer_ctrl_queue_size: 50 + steer_ctrl_queue_size_core: 15 + acc_ctrl_queue_size: 12 + nx_0: 6 + nu_0: 2 + timing_Q_c: [25] + cost_parameters: + Q: [0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + Q_c: [1e+2, 1e+8, 1e+6, 1e+3, 1.0, 1.0, 1.0, 1.0] + Q_f: [1e+2, 1e+8, 1e+2, 1e+8, 1.0, 1.0, 1.0, 1.0] + R: [10.0, 1000.0] + acc_lim_weight: 100.0 + steer_lim_weight: 100.0 + acc_rate_lim_weight: 10000.0 + steer_rate_lim_weight: 10000.0 + min_steer_rate_transform_for_start: 0.01 + power_steer_rate_transform_for_start: 5 + coef_steer_rate_transform_for_start: 3.0 + min_loose_lateral_cost: 0.00001 + power_loose_lateral_cost: 10 + threshold_loose_lateral_cost: 0.2 + min_loose_yaw_cost: 0.00001 + power_loose_yaw_cost: 1 + threshold_loose_yaw_cost: 0.1 + ilqr: + ls_step: 0.9 + max_iter_ls: 10 + max_iter_ilqr: 1 + ilqr_tol: 0.01 + mppi: + lam: 1.0 + Sigma: [1e-15, 1e-2] + max_iter_mppi: 2 + sample_num: 100 + mppi_tol: 0.5 + mppi_step: 20 + preprocessing: + reference_horizon: 50 + cap_pred_error: [0.5, 2.0] + use_sg_for_nominal_inputs: true + sg_deg_for_nominal_inputs: 0 + sg_window_size_for_nominal_inputs: 10 + to_be_deprecated: + tighten_horizon: 20 + min_tighten_steer_rate: 1.0 + power_tighten_steer_rate_by_lateral_error: 1 + threshold_tighten_steer_rate_by_lateral_error: 0.05 + power_tighten_steer_rate_by_yaw_error: 1 + threshold_tighten_steer_rate_by_yaw_error: 0.05 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml new file mode 100644 index 0000000000000..aa61a25e9a0ac --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml @@ -0,0 +1,10 @@ +# default parameter is set for sample_vehicle of AWF: https://github.com/autowarefoundation/sample_vehicle_launch/tree/main/sample_vehicle_description +nominal_parameter: + vehicle_info: + wheel_base: 2.79 + acceleration: + acc_time_delay: 0.1 + acc_time_constant: 0.1 + steering: + steer_time_delay: 0.27 + steer_time_constant: 0.24 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml new file mode 100644 index 0000000000000..6d1973586a5eb --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml @@ -0,0 +1,30 @@ +trained_model_parameter: + control_application: + use_trained_model: false + update_trained_model: false + max_train_data_size: 10000 + error_decay: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] + use_trained_model_diff: true + use_sg_for_trained_model_diff: true + sg_deg_for_trained_model_diff: 0 + sg_window_size_for_trained_model_diff: 25 + use_sg_for_noise: true + sg_deg_for_noise: 0 + sg_window_size_for_noise: 15 + use_x_noise: false + use_y_noise: false + use_v_noise: false + use_theta_noise: false + use_acc_noise: false + use_steer_noise: false + smoothing: + acc_sigma_for_learning: 5.0 + steer_sigma_for_learning: 5.0 + acc_des_sigma_for_learning: 5.0 + steer_des_sigma_for_learning: 5.0 + x_out_sigma_for_learning: 30.0 + y_out_sigma_for_learning: 30.0 + v_out_sigma_for_learning: 30.0 + theta_out_sigma_for_learning: 10.0 + acc_out_sigma_for_learning: 5.0 + steer_out_sigma_for_learning: 5.0 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore new file mode 100644 index 0000000000000..9f6b19213255b --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore @@ -0,0 +1,13 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# workspace specific settings +train_drive_*.png +test_feedforward_*/ +test_pure_pursuit_*/ +test_python_*/ +python_sim_log_*/ +sim_setting.json +auto_test_result_*.csv diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv new file mode 100644 index 0000000000000..83fa1f2612704 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv @@ -0,0 +1,20 @@ +default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89, 15.28, 16.67 +-4.0, -4.40, -4.36, -4.38, -4.12, -4.20, -3.94, -3.98, -3.80, -3.77, -3.76, -3.59, -3.50, -3.40 +-3.5, -4.00, -3.91, -3.85, -3.64, -3.68, -3.55, -3.42, -3.24, -3.25, -3.00, -3.04, -2.93, -2.80 +-3.0, -3.40, -3.37, -3.33, -3.00, -3.00, -2.90, -2.88, -2.65, -2.43, -2.44, -2.43, -2.39, -2.30 +-2.5, -2.80, -2.72, -2.72, -2.62, -2.41, -2.43, -2.26, -2.18, -2.11, -2.03, -1.96, -1.91, -1.85 +-2.0, -2.30, -2.24, -2.12, -2.02, -1.92, -1.81, -1.67, -1.58, -1.51, -1.49, -1.40, -1.35, -1.30 +-1.5, -1.70, -1.61, -1.47, -1.46, -1.40, -1.37, -1.29, -1.24, -1.10, -0.99, -0.83, -0.80, -0.78 +-1.0, -1.30, -1.28, -1.10, -1.09, -1.04, -1.02, -0.98, -0.89, -0.82, -0.61, -0.52, -0.54, -0.56 +-0.8, -0.96, -0.90, -0.82, -0.74, -0.70, -0.65, -0.63, -0.59, -0.55, -0.44, -0.39, -0.39, -0.35 +-0.6, -0.77, -0.71, -0.67, -0.65, -0.58, -0.52, -0.51, -0.50, -0.40, -0.33, -0.30, -0.31, -0.30 +-0.4, -0.45, -0.40, -0.45, -0.44, -0.38, -0.35, -0.31, -0.30, -0.26, -0.30, -0.29, -0.31, -0.25 +-0.2, -0.24, -0.24, -0.25, -0.22, -0.23, -0.25, -0.27, -0.29, -0.24, -0.22, -0.17, -0.18, -0.12 + 0.0, 0.00, 0.00, -0.05, -0.05, -0.05, -0.05, -0.08, -0.08, -0.08, -0.08, -0.10, -0.10, -0.10 + 0.2, 0.16, 0.12, 0.02, 0.02, 0.00, 0.00, -0.05, -0.05, -0.05, -0.05, -0.08, -0.08, -0.08 + 0.4, 0.38, 0.30, 0.22, 0.25, 0.24, 0.23, 0.20, 0.16, 0.16, 0.14, 0.10, 0.05, 0.05 + 0.6, 0.52, 0.52, 0.51, 0.49, 0.43, 0.40, 0.35, 0.33, 0.33, 0.33, 0.32, 0.34, 0.34 + 0.8, 0.82, 0.81, 0.78, 0.68, 0.63, 0.56, 0.53, 0.48, 0.43, 0.41, 0.37, 0.38, 0.40 + 1.0, 1.00, 1.08, 1.01, 0.88, 0.76, 0.69, 0.66, 0.58, 0.54, 0.49, 0.45, 0.40, 0.40 + 1.5, 1.52, 1.50, 1.38, 1.26, 1.14, 1.03, 0.91, 0.82, 0.67, 0.61, 0.51, 0.41, 0.41 + 2.0, 1.80, 1.80, 1.64, 1.43, 1.25, 1.11, 0.96, 0.81, 0.70, 0.59, 0.51, 0.42, 0.42 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb new file mode 100644 index 0000000000000..dd4dc9ae25cb2 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb @@ -0,0 +1,180 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "e78db57e-3218-4515-9ae5-4458ea071a1c", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import pandas as pd" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "dacb0655-e173-483f-86ac-0f39520c66f7", + "metadata": {}, + "outputs": [], + "source": [ + "import python_simulator" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "03850f4f-99c4-4f1c-8673-8bbabddea001", + "metadata": {}, + "outputs": [], + "source": [ + "# header of auto_test_result_*.csv\n", + "header = [\n", + " \"param_name\", # 0\n", + " \"param_val\", # 1\n", + " \"max_abs_lateral_error\", # 2\n", + " \"max_abs_vel_error\", # 3\n", + " # \"max_abs_yaw_error\", # 4\n", + " # \"max_abs_acc_error\", # 5\n", + " # \"max_abs_steer_error\" # 6\n", + "]\n", + "\n", + "\n", + "plot_param_list = [\n", + " # [label, header_index, unit_for_plot, nominal_value]\n", + " [\"steer_bias\", 2, \"[deg]\", 0.0] ,\n", + " [\"steer_rate_lim\", 2, \"[rad/s]\", python_simulator.steer_rate_lim],\n", + " [\"vel_rate_lim\", 3, \"[m/ss]\", python_simulator.vel_rate_lim],\n", + " [\"steer_dead_band\", 2, \"[rad]\", python_simulator.steer_dead_band],\n", + " [\"wheel_base\",2, \"[m]\", python_simulator.L],\n", + " # [\"adaptive_gear_ratio_coef\", 2,\"[-]\", None],\n", + " [\"acc_time_delay\",3, \"[s]\", python_simulator.acc_time_delay],\n", + " [\"steer_time_delay\",2, \"[s]\", python_simulator.steer_time_delay],\n", + " [\"acc_time_constant\",3, \"[s]\", python_simulator.acc_time_constant],\n", + " [\"steer_time_constant\",2, \"[s]\", python_simulator.steer_time_constant],\n", + " [\"accel_map_scale\",3, \"[-]\", None],\n", + " [\"acc_scaling\",3, \"[-]\", 1],\n", + " [\"steer_scaling\",2, \"[-]\", 1],\n", + "]\n", + "print(plot_param_list)\n", + "print(\"len(plot_param_list)\",len(plot_param_list))\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "4e8af4e4-db9f-4ee9-b41e-690b74ae5cf7", + "metadata": { + "scrolled": true + }, + "outputs": [], + "source": [ + "fig = plt.figure(figsize=(30, 18), tight_layout=True)\n", + "\n", + "ax_list = []\n", + "for i in range(len(plot_param_list)):\n", + " ax_list.append(plt.subplot(4, 3, i+1))\n", + "\n", + "# ff_data_result_csv = \"auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv\"\n", + "nominal_data_result_csv = \"auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv\"\n", + "\n", + "df_info_list = [ \n", + " {\"file_name\": \"nominal/auto_test_result_nominal_model_control.csv\", \n", + " \"label_name\": \"nominal\"},\n", + "\n", + " # {\"file_name\": \"poly(selected) (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"poly(selected) (data using FF)\"}, \n", + " # # {\"file_name\": \"poly(full) (data using FF)/\"+ff_data_result_csv, \n", + " # # \"label_name\" : \"poly(full) (data using FF)\"}, \n", + " # {\"file_name\": \"poly(selected)+NN (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"poly(selected)+NN (data using FF)\"}, \n", + " # # {\"file_name\": \"poly(full)+NN (data using FF)/\"ff_data_result_csv, \n", + " # # \"label_name\" : \"poly(full)+NN (data using FF)\"},\n", + " # {\"file_name\": \"NN (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"NN (data using FF)\"},\n", + " \n", + " {\"file_name\": \"poly(selected) (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"poly(selected) (nominal control data)\"}, \n", + " # {\"file_name\": \"poly(full) (nominal control data)/\"+nominal_data_result_csv, \n", + " # \"label_name\" : \"poly(full) (nominal control data)\"},\n", + " {\"file_name\": \"poly(selected)+NN (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"poly(selected)+NN (nominal control data)\"}, \n", + " # {\"file_name\": \"poly(full)+NN (nominal control data)/\"+nominal_data_result_csv, \n", + " # \"label_name\" : \"poly(full)+NN (nominal control data)\"},\n", + " {\"file_name\": \"NN (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"NN (nominal control data)\"}, \n", + "]\n", + "\n", + "cmap = plt.get_cmap(\"tab10\") \n", + "for l in range(len(df_info_list)):\n", + " df = pd.read_csv(df_info_list[l][\"file_name\"], header=None,sep=\",\")\n", + " for i in range(len(plot_param_list)):\n", + " index_bool = df[0].values==plot_param_list[i][0]\n", + " if any(index_bool):\n", + " x = df[1].values[index_bool]\n", + " \n", + " if plot_param_list[i][0]==\"adaptive_gear_ratio_coef\":\n", + " x = np.array(range(len(x)))\n", + " x = np.array([float(x[j]) for j in range(len(x))])\n", + " if plot_param_list[i][0]==\"steer_bias\":\n", + " x *= 180.0/np.pi\n", + " \n", + " \n", + " y = df[plot_param_list[i][1]].values[index_bool]\n", + " ax_list[i].plot(x,y,\"o-\",label=df_info_list[l][\"label_name\"],color=cmap(l))\n", + " else:\n", + " pass\n", + " if i==0:\n", + " ax_list[i].plot([0],[0],\"o-\",label=df_info_list[l][\"label_name\"],color=cmap(l))\n", + "\n", + "\n", + "for i in range(len(plot_param_list)): \n", + " #ax_list[i].set_title(header[plot_param_list[i][1]]+\" / \"+plot_param_list[i][0], fontsize=16)\n", + " ax_list[i].set_xlabel(plot_param_list[i][0] + \" \" + plot_param_list[i][2],fontsize=20)\n", + " ax_list[i].set_ylabel(header[plot_param_list[i][1]],fontsize=20)\n", + " ax_list[i].grid()\n", + "\n", + " if plot_param_list[i][3] is not None:\n", + " ax_list[i].plot([plot_param_list[i][3],plot_param_list[i][3]],[-0.1,2],\"k--\")\n", + " \n", + " # lateral_error\n", + " if 2==plot_param_list[i][1]:\n", + " ax_list[i].set_ylim([-0.01,1.0])\n", + " # vel_error\n", + " if 3==plot_param_list[i][1]:\n", + " ax_list[i].set_ylim([-0.01,1.0])\n", + "\n", + " # if(y.max()>2.0):\n", + " # ax_list[i].set_ylim([-0.1,2.0])\n", + " if i==0:\n", + " ax_list[i].legend(fontsize=13)\n", + "plt.savefig(\"auto_test_result.png\")\n", + "plt.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py new file mode 100644 index 0000000000000..d706c342f04ec --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py @@ -0,0 +1,1593 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit simplejson fastmath interp suptitle fftfreq basefmt markerfmt + +import csv +import datetime +import os + +import matplotlib.pyplot as plt +from numba import njit +import numpy as np +import pandas as pd +import scipy.interpolate +import simplejson as json +from smart_mpc_trajectory_follower.scripts import drive_controller +from smart_mpc_trajectory_follower.scripts import drive_functions + +print("\n\n### import python_simulator.py ###") + +ctrl_time_step = drive_functions.ctrl_time_step + +sim_dt = 0.003333 # Simulation time step +ctrl_freq = 10 # int, controlled once in 10 simulations. +acc_time_delay = drive_functions.acc_time_delay +steer_time_delay = drive_functions.steer_time_delay +acc_delay_step_sim = round(acc_time_delay / sim_dt) +steer_delay_step_sim = round(steer_time_delay / sim_dt) +acc_time_constant = drive_functions.acc_time_constant +steer_time_constant = drive_functions.steer_time_constant +steer_dead_band = 0.0012 +steer_scaling = 1.0 +acc_scaling = 1.0 +measurement_steer_bias = 0.00 +L = drive_functions.L +N = drive_functions.N + +steer_rate_lim = 0.35 +vel_rate_lim = 7.0 + +mpc_freq = drive_functions.mpc_freq + + +use_accel_map = False + +vgr_coef_a1 = 15.713 +vgr_coef_b1 = 0.053 +vgr_coef_c1 = 0.042 +vgr_coef_a2 = 15.713 +vgr_coef_b2 = 0.053 +vgr_coef_c2 = 0.042 + + +perturbed_sim_flag = False +if os.path.isfile("sim_setting.json"): + with open("sim_setting.json", "r") as file: + sim_setting_dict = json.load(file) + print("load sim_setting.json") + print("sim_setting_dict", sim_setting_dict) + perturbed_sim_flag = True +else: + print("sim_setting.json not found") + +# Rewriting for para-search +nominal_setting_dict_display = {} +if perturbed_sim_flag: + if "steer_bias" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_bias"] = 1 * measurement_steer_bias + measurement_steer_bias = sim_setting_dict["steer_bias"] + print("nominal steer_bias", nominal_setting_dict_display["steer_bias"]) + print("perturbed steer_bias", measurement_steer_bias) + print("perturbed steer_bias_deg", measurement_steer_bias * 180 / np.pi) + + if "steer_rate_lim" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_rate_lim"] = 1 * steer_rate_lim + steer_rate_lim = sim_setting_dict["steer_rate_lim"] + print("nominal steer_rate_lim", nominal_setting_dict_display["steer_rate_lim"]) + print("perturbed steer_rate_lim", steer_rate_lim) + + if "vel_rate_lim" in sim_setting_dict.keys(): + nominal_setting_dict_display["vel_rate_lim"] = 1 * vel_rate_lim + vel_rate_lim = sim_setting_dict["vel_rate_lim"] + print("nominal vel_rate_lim", nominal_setting_dict_display["vel_rate_lim"]) + print("perturbed vel_rate_lim", vel_rate_lim) + + if "wheel_base" in sim_setting_dict.keys(): + nominal_setting_dict_display["wheel_base"] = 1 * L + L = sim_setting_dict["wheel_base"] + print("nominal wheel_base", nominal_setting_dict_display["wheel_base"]) + print("perturbed wheel_base", L) + + if "steer_dead_band" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_dead_band"] = 1 * steer_dead_band + steer_dead_band = sim_setting_dict["steer_dead_band"] + print("nominal steer_dead_band", nominal_setting_dict_display["steer_dead_band"]) + print("perturbed steer_dead_band", steer_dead_band) + + if "adaptive_gear_ratio_coef" in sim_setting_dict.keys(): + nominal_setting_dict_display["adaptive_gear_ratio_coef"] = [ + 1 * vgr_coef_a1, + 1 * vgr_coef_b1, + 1 * vgr_coef_c1, + 1 * vgr_coef_a2, + 1 * vgr_coef_b2, + 1 * vgr_coef_c2, + ] + vgr_coef_a1 = sim_setting_dict["adaptive_gear_ratio_coef"][0] + vgr_coef_b1 = sim_setting_dict["adaptive_gear_ratio_coef"][1] + vgr_coef_c1 = sim_setting_dict["adaptive_gear_ratio_coef"][2] + vgr_coef_a2 = sim_setting_dict["adaptive_gear_ratio_coef"][3] + vgr_coef_b2 = sim_setting_dict["adaptive_gear_ratio_coef"][4] + vgr_coef_c2 = sim_setting_dict["adaptive_gear_ratio_coef"][5] + print( + "nominal adaptive_gear_ratio_coef", + nominal_setting_dict_display["adaptive_gear_ratio_coef"], + ) + print( + "perturbed: vgr_coef_a1", + vgr_coef_a1, + "vgr_coef_b1", + vgr_coef_b1, + "vgr_coef_c1", + vgr_coef_c1, + ) + print( + "perturbed: vgr_coef_a2", + vgr_coef_a2, + "vgr_coef_b2", + vgr_coef_b2, + "vgr_coef_c2", + vgr_coef_c2, + ) + + if "acc_time_delay" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_time_delay"] = sim_dt * acc_delay_step_sim + print("nominal acc_time_delay", nominal_setting_dict_display["acc_time_delay"]) + print("nominal acc_delay_step_sim", acc_delay_step_sim) + acc_delay_step_sim = round(sim_setting_dict["acc_time_delay"] / sim_dt) + print("perturbed acc_time_delay", sim_setting_dict["acc_time_delay"]) + print("perturbed acc_delay_step_sim", acc_delay_step_sim) + + if "steer_time_delay" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_time_delay"] = sim_dt * steer_delay_step_sim + print("nominal steer_time_delay", nominal_setting_dict_display["steer_time_delay"]) + print("nominal steer_delay_step_sim", steer_delay_step_sim) + steer_delay_step_sim = round(sim_setting_dict["steer_time_delay"] / sim_dt) + print("perturbed steer_time_delay", sim_setting_dict["steer_time_delay"]) + print("perturbed steer_delay_step_sim", steer_delay_step_sim) + + if "acc_time_constant" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_time_constant"] = 1 * acc_time_constant + acc_time_constant = sim_setting_dict["acc_time_constant"] + print("nominal acc_time_constant", nominal_setting_dict_display["acc_time_constant"]) + print("perturbed acc_time_constant", acc_time_constant) + + if "steer_time_constant" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_time_constant"] = 1 * steer_time_constant + steer_time_constant = sim_setting_dict["steer_time_constant"] + print("nominal steer_time_constant", nominal_setting_dict_display["steer_time_constant"]) + print("perturbed steer_time_constant", steer_time_constant) + + if "accel_map_scale" in sim_setting_dict.keys(): + nominal_setting_dict_display["accel_map_scale"] = None + use_accel_map = True + accel_map_scale = sim_setting_dict["accel_map_scale"] + df = pd.read_csv("accel_map.csv", header=None) + current_vel_axis = np.array( + [float(df.loc[0].values[1 + i]) for i in range(len(df.loc[0].values[1:]))] + ) + accel_cmd_axis = np.array( + [float(df[0].values[1 + i]) for i in range(len(df[0].values[1:]))] + ) + accel_map_data = np.zeros((len(accel_cmd_axis), len(current_vel_axis))) + for i in range(len(current_vel_axis)): + for j in range(len(accel_cmd_axis)): + accel_map_data[j, i] = float(df[1 + i].values[1 + j]) * ( + accel_map_scale ** (i * 1.0 / (len(current_vel_axis) - 1)) + ) + X1, X2 = np.meshgrid(current_vel_axis, accel_cmd_axis) + xy = [(x, y) for x in current_vel_axis for y in accel_cmd_axis] + z = [ + accel_map_data[j, i] + for i in range(len(current_vel_axis)) + for j in range(len(accel_cmd_axis)) + ] + accel_map_f_ = scipy.interpolate.LinearNDInterpolator(xy, z) + + def accel_map_f(x, y): + res = accel_map_f_( + [np.clip(x, a_min=current_vel_axis.min(), a_max=current_vel_axis.max())], + [np.clip(y, a_min=accel_cmd_axis.min(), a_max=accel_cmd_axis.max())], + ) + return [res] + + print("current_vel_axis", current_vel_axis) + print("accel_cmd_axis", accel_cmd_axis) + print( + "accel_map_f(current_vel_axis[-1],accel_cmd_axis[-1])", + accel_map_f(current_vel_axis[-1], accel_cmd_axis[-1]), + "accel_map_data[-1,-1]", + accel_map_data[-1, -1], + ) + print( + "accel_map_f(current_vel_axis[-1],accel_cmd_axis[-2])", + accel_map_f(current_vel_axis[-1], accel_cmd_axis[-2]), + "accel_map_data[-2,-1]", + accel_map_data[-2, -1], + ) + print("perturbed use_accel_map", use_accel_map) + + if "steer_scaling" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_scaling"] = 1 * steer_scaling + steer_scaling = sim_setting_dict["steer_scaling"] + print("nominal steer_scaling", nominal_setting_dict_display["steer_scaling"]) + print("perturbed steer_scaling", steer_scaling) + + if "acc_scaling" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_scaling"] = 1 * acc_scaling + acc_scaling = sim_setting_dict["acc_scaling"] + print("nominal acc_scaling", nominal_setting_dict_display["acc_scaling"]) + print("perturbed acc_scaling", acc_scaling) + + if "vehicle_type" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_rate_lim"] = 1 * steer_rate_lim + nominal_setting_dict_display["vel_rate_lim"] = 1 * vel_rate_lim + nominal_setting_dict_display["wheel_base"] = 1 * L + nominal_setting_dict_display["acc_time_delay"] = sim_dt * acc_delay_step_sim + nominal_setting_dict_display["steer_time_delay"] = sim_dt * steer_delay_step_sim + nominal_setting_dict_display["acc_time_constant"] = 1 * acc_time_constant + nominal_setting_dict_display["steer_time_constant"] = 1 * steer_time_constant + nominal_setting_dict_display["acc_scaling"] = 1 * acc_scaling + if sim_setting_dict["vehicle_type"] == 0: + pass + elif sim_setting_dict["vehicle_type"] == 1: + # heavy-weight bus + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 4.76 + acc_delay_step_sim = round(1.0 / sim_dt) + steer_delay_step_sim = round(1.0 / sim_dt) + acc_time_constant = 1.0 + steer_time_constant = 1.0 + acc_scaling = 0.2 + elif sim_setting_dict["vehicle_type"] == 2: + # light-weight bus + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 4.76 + acc_delay_step_sim = round(0.5 / sim_dt) + steer_delay_step_sim = round(0.5 / sim_dt) + acc_time_constant = 0.5 + steer_time_constant = 0.5 + acc_scaling = 0.5 + elif sim_setting_dict["vehicle_type"] == 3: + # small vehicle + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 1.335 + acc_delay_step_sim = round(0.3 / sim_dt) + steer_delay_step_sim = round(0.3 / sim_dt) + acc_time_constant = 0.3 + steer_time_constant = 0.3 + acc_scaling = 1.5 + elif sim_setting_dict["vehicle_type"] == 4: + # small robot + steer_rate_lim = 60.0 * (np.pi / 180.0) + vel_rate_lim = 3.0 + L = 0.395 + acc_delay_step_sim = round(0.2 / sim_dt) + steer_delay_step_sim = round(0.2 / sim_dt) + acc_time_constant = 0.2 + steer_time_constant = 0.2 + acc_scaling = 3.0 + + print("steer_rate_lim", nominal_setting_dict_display["steer_rate_lim"], steer_rate_lim) + print("vel_rate_lim", nominal_setting_dict_display["vel_rate_lim"], vel_rate_lim) + print("wheel_base", nominal_setting_dict_display["wheel_base"], L) + print( + "acc_time_delay", + nominal_setting_dict_display["acc_time_delay"], + sim_dt * acc_delay_step_sim, + ) + print( + "steer_time_delay", + nominal_setting_dict_display["steer_time_delay"], + sim_dt * steer_delay_step_sim, + ) + print( + "acc_time_constant", + nominal_setting_dict_display["acc_time_constant"], + acc_time_constant, + ) + print( + "steer_time_constant", + nominal_setting_dict_display["steer_time_constant"], + steer_time_constant, + ) + print("acc_scaling", nominal_setting_dict_display["acc_scaling"], acc_scaling) + + +# dynamics +# @njit(cache=False, fastmath=True) # Commented out because we want to use scipy.interpolate2d +def f_sim( + states, + inputs, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, + steer_scaling=steer_scaling, + acc_scaling=acc_scaling, + measurement_steer_bias=measurement_steer_bias, +): + """Time derivative of sim model dynamics.""" + v = states[2] + theta = states[3] + alpha = states[4] + delta = states[5] + + delta_diff = steer_scaling * inputs[1] - delta + if delta_diff >= steer_dead_band: + delta_diff = delta_diff - steer_dead_band + elif delta_diff <= -steer_dead_band: + delta_diff = delta_diff + steer_dead_band + else: + delta_diff = 0.0 + + actual_alpha = alpha + actual_delta = delta - measurement_steer_bias + + # Acceleration input value -> Actual acceleration input value distortion applied + if use_accel_map: + if actual_alpha > 0: + actual_alpha = accel_map_f(v, actual_alpha)[0] # vel, acc_cmd + + # Tire angle input value -> Actual tire angle input value distortion application + steer_tire_angle_cmd = 1 * delta + coeff_from_tire_to_wheel = ( + 20.0 # Assuming a fixed gear ratio of 20 (moving in a range of roughly 15-30) + ) + steer_wheel = coeff_from_tire_to_wheel * steer_tire_angle_cmd + adaptive_gear_ratio1 = vgr_coef_a1 + vgr_coef_b1 * v * v - vgr_coef_c1 * abs(steer_wheel) + adaptive_gear_ratio2 = vgr_coef_a2 + vgr_coef_b2 * v * v - vgr_coef_c2 * abs(steer_wheel) + actual_delta = ( + steer_tire_angle_cmd * (adaptive_gear_ratio1 / adaptive_gear_ratio2) + - measurement_steer_bias + ) + + states_dot = np.zeros(6) + states_dot[0] = v * np.cos(theta) + states_dot[1] = v * np.sin(theta) + states_dot[2] = actual_alpha + states_dot[3] = v * np.tan(actual_delta) / L + states_dot[4] = (acc_scaling * inputs[0] - alpha) / acc_time_constant + states_dot[5] = delta_diff / steer_time_constant + return states_dot + + +def F_sim( + states, + inputs, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, +): + """Sim model dynamics based on the Euler method.""" + states_next = ( + states + + f_sim(states, inputs, L, acc_time_constant, steer_time_constant, steer_dead_band) * sim_dt + ) + return states_next + + +@njit(cache=False, fastmath=True) +def d_inputs_to_inputs(u_old, d_inputs): + """Compute the sequence of input values from the sequence of input change rates.""" + inputs = np.zeros((d_inputs.shape[0] * ctrl_freq * mpc_freq, 2)) + for j in range(mpc_freq): + inputs[ctrl_freq * j : ctrl_freq * (j + 1)] += ( + u_old + (j + 1) * d_inputs[0] * ctrl_time_step + ) + for i in range(1, d_inputs.shape[0]): + for j in range(mpc_freq): + inputs[ctrl_freq * (mpc_freq * i + j) : ctrl_freq * (mpc_freq * i + j + 1)] += ( + inputs[ctrl_freq * mpc_freq * i - 1] + (j + 1) * d_inputs[i] * ctrl_time_step + ) + return inputs + + +def F_true_predict( + x_current, + u_old, + d_inputs, + acc_des_queue, + steer_des_queue, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, +): + """Compute the true predicted trajectory based on simulator dynamics from the input values.""" + inputs = d_inputs_to_inputs(u_old, d_inputs) + predicted_traj = np.zeros((d_inputs.shape[0] + 1, x_current.shape[0])) + predicted_traj[0] += x_current + acc_queue = np.concatenate((np.array(acc_des_queue), inputs[:, 0])) + steer_queue = np.concatenate((np.array(steer_des_queue), inputs[:, 1])) + for i in range(d_inputs.shape[0]): + x_tmp = predicted_traj[i].copy() + for j in range(ctrl_freq * mpc_freq): + x_tmp = F_sim( + x_tmp, + np.array( + [ + acc_queue[ctrl_freq * mpc_freq * i + j], + steer_queue[ctrl_freq * mpc_freq * i + j], + ] + ), + L, + acc_time_constant, + steer_time_constant, + steer_dead_band, + ) + predicted_traj[i + 1] = x_tmp.copy() + return predicted_traj, inputs[:: ctrl_freq * mpc_freq] + + +def get_mpc_trajectory(x_current, trajectory_data, trajectory_interpolator_list): + """Calculate the target trajectory to be used in MPC from the given data.""" + nearest_index = np.argmin( + ((trajectory_data[:, 1:3] - x_current[:2].reshape(1, 2)) ** 2).sum(axis=1) + ) + timestamp_mpc_trajectory = ( + np.arange(N + 1) * mpc_freq * ctrl_freq * sim_dt + trajectory_data[nearest_index, 0] + ) + break_flag = False + if timestamp_mpc_trajectory[-1] >= trajectory_data[-1, 0]: + timestamp_mpc_trajectory -= timestamp_mpc_trajectory[-1] - trajectory_data[-1, 0] - 1e-16 + break_flag = True + + mpc_trajectory = np.array( + [ + trajectory_interpolator_list[i](timestamp_mpc_trajectory) + for i in range(trajectory_data.shape[1] - 1) + ] + ).T + mpc_trajectory = np.hstack( + [ + timestamp_mpc_trajectory.reshape(-1, 1) - trajectory_data[nearest_index, 0], + mpc_trajectory, + ] + ) + + X_des = np.zeros((N + 1, 8)) + X_des[:, :6] = mpc_trajectory[:, 1:7] + X_des[:, [6, 7]] = mpc_trajectory[:, [5, 6]] + U_des = np.zeros((N, 2)) + return X_des, U_des, x_current[:6] - trajectory_data[nearest_index, 1:7], break_flag + + +def get_feedforward_nominal_input(t, trajectory_data): + """Calculate the nominal input for feed-forward driving.""" + total_time = trajectory_data[-1, 0] + t_current = t - (t // total_time) * total_time + nearest_index = np.argmin(np.abs(trajectory_data[:, 0] - t_current)) + return trajectory_data[nearest_index, [5, 6]] + + +def create_additional_sine_data( + seed, + t_range, + acc_width_range, + acc_period_range, + steer_width_range, + steer_period_range, + large_steer_width_range, + large_steer_period_range, + start_large_steer_time, +): + """Create sine wave data to be added randomly to feed-forward runs.""" + np.random.seed(seed=seed) + t_acc = 0.0 + t_steer = 0.0 + t_large_steer = 0.0 + t_acc_list = [] + t_steer_list = [] + t_large_steer_list = [] + t_acc_list.append(t_acc) + t_steer_list.append(t_steer) + t_large_steer_list.append(t_large_steer) + t_large_steer += start_large_steer_time + t_large_steer_list.append(t_large_steer) + width_acc_list = [] + width_steer_list = [] + width_large_steer_list = [] + width_large_steer_list.append(0) + while True: + if max(t_acc, t_large_steer) >= t_steer: + period = ( + steer_period_range[1] - steer_period_range[0] + ) * np.random.uniform() + steer_period_range[0] + t_steer += period + t_steer_list.append(t_steer) + width_steer_list.append(steer_width_range * np.random.uniform()) + elif t_large_steer >= t_acc: + period = ( + acc_period_range[1] - acc_period_range[0] + ) * np.random.uniform() + acc_period_range[0] + t_acc += period + t_acc_list.append(t_acc) + width_acc_list.append(acc_width_range * np.random.uniform()) + else: + period = ( + large_steer_period_range[1] - large_steer_period_range[0] + ) * np.random.uniform() + large_steer_period_range[0] + t_large_steer += period + t_large_steer_list.append(t_large_steer) + width_large_steer_list.append(large_steer_width_range * np.random.uniform()) + if t_acc >= t_range[1] and t_steer >= t_range[1] and t_large_steer >= t_range[1]: + break + return ( + np.array(t_acc_list), + np.array(width_acc_list), + np.array(t_steer_list), + np.array(width_steer_list), + np.array(t_large_steer_list), + np.array(width_large_steer_list), + ) + + +@njit(cache=False, fastmath=True) +def get_current_additional_sine( + t, + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, +): + """Calculate current values from already created sine wave data.""" + acc_index = 0 + steer_index = 0 + large_steer_index = 0 + for i in range(t_acc_array.shape[0] - 1): + if t < t_acc_array[i + 1]: + break + acc_index += 1 + for i in range(t_steer_array.shape[0] - 1): + if t < t_steer_array[i + 1]: + break + steer_index += 1 + for i in range(t_large_steer_array.shape[0] - 1): + if t < t_large_steer_array[i + 1]: + break + large_steer_index += 1 + acc = width_acc_array[acc_index] * np.sin( + 2 + * np.pi + * (t - t_acc_array[acc_index]) + / (t_acc_array[acc_index + 1] - t_acc_array[acc_index]) + ) + steer = width_steer_array[steer_index] * np.sin( + 2 + * np.pi + * (t - t_steer_array[steer_index]) + / (t_steer_array[steer_index + 1] - t_steer_array[steer_index]) + ) + steer += width_large_steer_array[large_steer_index] * np.sin( + 2 + * np.pi + * (t - t_large_steer_array[large_steer_index]) + / (t_large_steer_array[large_steer_index + 1] - t_large_steer_array[large_steer_index]) + ) + return np.array([acc, steer]) + + +def create_vel_sine_data(seed, t_range, vel_width_range, vel_period_range): + """Create sine wave data for target velocity.""" + np.random.seed(seed=seed) + t_vel = 0.0 + t_vel_list = [] + t_vel_list.append(t_vel) + width_vel_list = [] + while True: + period = ( + vel_period_range[1] - vel_period_range[0] + ) * np.random.uniform() + vel_period_range[0] + t_vel += period + t_vel_list.append(t_vel) + width_vel_list.append(vel_width_range * np.random.uniform()) + if t_vel >= t_range[1]: + break + return ( + np.array(t_vel_list), + np.array(width_vel_list), + ) + + +@njit(cache=False, fastmath=True) +def get_current_vel_sine(t, t_vel_array, width_vel_array, v_mid): + """Calculate current target velocity values from already created sine wave data.""" + vel_index = 0 + for i in range(t_vel_array.shape[0] - 1): + if t < t_vel_array[i + 1]: + break + vel_index += 1 + vel = v_mid + width_vel_array[vel_index] * np.sin( + 2 + * np.pi + * (t - t_vel_array[vel_index]) + / (t_vel_array[vel_index + 1] - t_vel_array[vel_index]) + ) + return vel + + +def get_figure_eight_point(t, circle_radius): + """ + Get the position and yaw angle in world coordinates of the figure eight given the circle radius. + + Here t is a 1-dimensional array of numpy and each t[i] represents the distance traveled. + The return value is a 2-dimensional array of positions and a 1-dimensional array of yaw angles corresponding to t. + """ + sign = -2 * (np.floor(t / (2 * np.pi * circle_radius)) % 2).astype(int) + 1 + x = circle_radius * np.sin(t / circle_radius) + y = sign * circle_radius * (1 - np.cos(t / circle_radius)) + yaw = ( + sign * ((t / circle_radius) % (2 * np.pi) - np.pi) + np.pi + ) # if sign == 1, then yaw = (t/circle_radius)%(2*np.pi). Else, yaw = 2*np.pi - (t/circle_radius)%(2*np.pi). + return np.array([x, y]).T, yaw + + +def pure_pursuit( + x_current, + target_position, + target_vel, + target_yaw, + acc_lim=7.0, + steer_lim=1.0, + wheel_base=drive_functions.L, + lookahead_time=3.0, + min_lookahead=3.0, + acc_kp=0.5, +): + """Calculate acceleration and steer angle input values based on pure pursuit.""" + present_position = x_current[:2] + present_longitudinal_velocity = x_current[2] + present_point_yaw = x_current[3] + longitudinal_vel_err = present_longitudinal_velocity - target_vel + acc_kp = 0.5 + acc_cmd = np.clip(-acc_kp * longitudinal_vel_err, -acc_lim, acc_lim) + + # compute steer cmd + cos_yaw = np.cos(target_yaw) + sin_yaw = np.sin(target_yaw) + diff_position = present_position - target_position + lat_err = -sin_yaw * diff_position[0] + cos_yaw * diff_position[1] + yaw_err = present_point_yaw - target_yaw + while True: + if yaw_err > np.pi: + yaw_err -= 2.0 * np.pi + if yaw_err < (-np.pi): + yaw_err += 2.0 * np.pi + if np.abs(yaw_err) < np.pi: + break + + lookahead = min_lookahead + lookahead_time * np.abs(present_longitudinal_velocity) + steer_kp = 2.0 * wheel_base / (lookahead * lookahead) + steer_kd = 2.0 * wheel_base / lookahead + steer_cmd = np.clip(-steer_kp * lat_err - steer_kd * yaw_err, -steer_lim, steer_lim) + return np.array([acc_cmd, steer_cmd]) + + +def get_pure_pursuit_info(x_current, trajectory_position_data, trajectory_yaw_data, previous_index): + """Calculate the target position and yaw angle required for pure pursuit.""" + search_range = ( + np.arange( + previous_index - trajectory_position_data.shape[0] // 4, + previous_index + trajectory_position_data.shape[0] // 4, + ) + % trajectory_position_data.shape[0] + ) + nearest_index = np.argmin( + ((trajectory_position_data[search_range] - x_current[:2].reshape(1, 2)) ** 2).sum(axis=1) + ) + return ( + trajectory_position_data[search_range[nearest_index]], + trajectory_yaw_data[search_range[nearest_index]], + search_range[nearest_index], + ) + + +class driving_log_updater: + """Class for updating logs when driving on the Python simulator.""" + + def __init__(self): + self.X_history = [] + self.U_history = [] + self.control_cmd_time_stamp_list = [] + self.control_cmd_steer_list = [] + self.control_cmd_acc_list = [] + self.kinematic_state_list = [] + self.acceleration_list = [] + self.steering_status_list = [] + self.control_cmd_orig_list = [] + self.operation_mode_list = [] + + def update(self, t_current, x_current, u_current): + """Update logs.""" + self.X_history.append(x_current) + self.U_history.append(u_current) + self.control_cmd_time_stamp_list.append(t_current) + self.control_cmd_steer_list.append(u_current[1]) + self.control_cmd_acc_list.append(u_current[0]) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + t_sec = int(t_current) + t_n_sec = int(1e9 * (t_current - t_sec)) + kinematic_state = np.zeros(7) + acceleration = np.zeros(4) + steering_status = np.zeros(3) + control_cmd_orig = np.zeros(10) + operation_mode = np.zeros(3) + kinematic_state[0] = t_sec + kinematic_state[1] = t_n_sec + kinematic_state[2] = x_current[0] + kinematic_state[3] = x_current[1] + kinematic_state[4] = np.sin(0.5 * x_current[3]) + kinematic_state[5] = np.cos(0.5 * x_current[3]) + kinematic_state[6] = x_current[2] + self.kinematic_state_list.append(kinematic_state) + acceleration[0] = t_sec + acceleration[1] = t_n_sec + acceleration[3] = x_current[4] + self.acceleration_list.append(acceleration) + steering_status[0] = t_sec + steering_status[1] = t_n_sec + steering_status[2] = x_current[5] + self.steering_status_list.append(steering_status) + control_cmd_orig[0] = t_sec + control_cmd_orig[1] = t_n_sec + control_cmd_orig[4] = u_current[1] + control_cmd_orig[9] = u_current[0] + self.control_cmd_orig_list.append(control_cmd_orig) + operation_mode[0] = t_sec + operation_mode[1] = t_n_sec + operation_mode[2] = 2.0 + self.operation_mode_list.append(operation_mode) + + def save(self, save_dir): + """Save logs in csv format.""" + kinematic_states = np.zeros((len(self.kinematic_state_list), 48)) + kinematic_states[:, [0, 1, 4, 5, 9, 10, 47]] = np.array(self.kinematic_state_list) + np.savetxt(save_dir + "/kinematic_state.csv", kinematic_states, delimiter=",") + np.savetxt(save_dir + "/acceleration.csv", np.array(self.acceleration_list), delimiter=",") + np.savetxt( + save_dir + "/steering_status.csv", + np.array(self.steering_status_list), + delimiter=",", + ) + np.savetxt( + save_dir + "/control_cmd_orig.csv", + np.array(self.control_cmd_orig_list), + delimiter=",", + ) + np.savetxt( + save_dir + "/system_operation_mode_state.csv", + np.array(self.operation_mode_list), + delimiter=",", + ) + with open(save_dir + "/system_operation_mode_state.csv", "w") as f: + writer = csv.writer(f) + for i in range(len(self.operation_mode_list)): + operation_mode_plus_true = self.operation_mode_list[i].tolist() + operation_mode_plus_true.append("True") + writer.writerow(operation_mode_plus_true) + + +def slalom_drive( + save_file=True, + save_dir=None, + load_dir=drive_functions.load_dir, + visualize=True, + use_trained_model=False, + use_trained_model_diff=None, + control_type="mpc", # feedforward_test=False, + straight_line_test=False, + initial_error=np.zeros(6), + t_range=[0, 100], + seed=1, + acc_width_range=0.005, + acc_period_range=[5.0, 20.0], + steer_width_range=0.005, + steer_period_range=[5.0, 20.0], + large_steer_width_range=0.00, + large_steer_period_range=[5.0, 20.0], + start_large_steer_time=40.0, + vel_width_range=5.0, + vel_period_range=[5.0, 20.0], + v_mid=6.0, + circle_radius=30.0, +): + """Perform a slalom driving simulation.""" + if control_type == "pp": + print("\n[run figure_eight_drive]\n") + elif control_type == "ff": + print("\n[run feedforward_drive]\n") + else: + if not straight_line_test: + print("\n[run slalom_drive]\n") + else: + print("\n[straight_line_test]\n") + if save_file: + if save_dir is None: + save_dir_ = "python_sim_log_" + str(datetime.datetime.now()) + else: + save_dir_ = save_dir + if not os.path.isdir(save_dir_): + os.mkdir(save_dir_) + controller = drive_controller.drive_controller( + model_file_name=(load_dir + "/model_for_test_drive.pth"), + load_GP_dir=load_dir, + load_polynomial_reg_dir=load_dir, + use_trained_model=use_trained_model, + use_trained_model_diff=use_trained_model_diff, + load_train_data_dir=load_dir, + ) + mode = controller.mode + if control_type == "mpc": + print("mode:", mode) + + plt.rcParams["figure.figsize"] = (8, 8) + t_eval = np.arange(*t_range, sim_dt) + if not straight_line_test: + trajectory_data = np.loadtxt("slalom_course_data.csv", delimiter=",") + else: + # Test by straight_line. To run, the following create_straight_line_test_csv() must be executed + trajectory_data = np.loadtxt("straight_line.csv", delimiter=",") + trajectory_interpolator_list = [ + scipy.interpolate.interp1d(trajectory_data[:, 0], trajectory_data[:, 1 + i]) + for i in range(trajectory_data.shape[1] - 1) + ] + x_init = trajectory_data[0, 1:7] + initial_error + + x_current = x_init.copy() + + acc_des_queue = [0] * acc_delay_step_sim + steer_des_queue = [0] * steer_delay_step_sim + + calculated = 0 + break_flag = False + + tracking_error_list = [] + + total_abs_max_lateral_deviation = -1 + straight_line_abs_max_lateral_deviation = -1 + total_abs_max_velocity_error = -1 + total_abs_max_yaw_error = -1 + total_abs_max_acc_error = -1 + total_abs_max_steer_error = -1 + prev_u_actual_input = np.zeros(2) + log_updater = driving_log_updater() + + previous_pp_index = 0 + + if control_type != "mpc": # feedforward_test: + ( + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) = create_additional_sine_data( + seed, + t_range, + acc_width_range, + acc_period_range, + steer_width_range, + steer_period_range, + large_steer_width_range, + large_steer_period_range, + start_large_steer_time, + ) + if control_type == "pp": + t_figure_eight = np.arange(*[0, 4 * np.pi * circle_radius], 0.01) + trajectory_position_data, trajectory_yaw_data = get_figure_eight_point( + t_figure_eight, circle_radius + ) + # plt.plot(trajectory_position_data[:,0],trajectory_position_data[:,1]) + # plt.show() + t_vel_array, width_vel_array = create_vel_sine_data( + seed, t_range, vel_width_range, vel_period_range + ) + + for i in range(t_eval.size): + if i % ctrl_freq == 0: # update u_opt + if control_type == "mpc": # not feedforward_test: + X_des, U_des, tracking_error, break_flag = get_mpc_trajectory( + x_current, trajectory_data, trajectory_interpolator_list + ) + tracking_error_list.append(tracking_error.copy()) + + u_opt = controller.update_input_queue_and_get_optimal_control( + log_updater.control_cmd_time_stamp_list, + log_updater.control_cmd_acc_list, + log_updater.control_cmd_steer_list, + x_current, + X_des, + U_des, + ) + elif control_type == "ff": + u_opt = get_current_additional_sine( + t_eval[i], + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) + u_opt[0] += get_feedforward_nominal_input(t_eval[i], trajectory_data)[0] + elif control_type == "pp": + target_position, target_yaw, previous_pp_index = get_pure_pursuit_info( + x_current, trajectory_position_data, trajectory_yaw_data, previous_pp_index + ) + target_vel = get_current_vel_sine(t_eval[i], t_vel_array, width_vel_array, v_mid) + u_opt = pure_pursuit(x_current, target_position, target_vel, target_yaw) + u_opt += get_current_additional_sine( + t_eval[i], + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) + calculated += 1 + log_updater.update(t_eval[i], x_current, u_opt) + if ( + visualize and (control_type in ["ff", "pp"]) and (i == t_eval.size - 1 or break_flag) + ): # feedforward_test and (i == t_eval.size - 1 or break_flag): + X = np.array(log_updater.X_history) + U = np.array(log_updater.U_history) + + if not use_trained_model: + title_str = "control_using_nominal_model: " + else: + title_str = "control_using_trained_model: " + if perturbed_sim_flag: + title_str += ( + "perturbed_sim: " + + str(sim_setting_dict) + + ", nominal_model: " + + str(nominal_setting_dict_display) + ) + fig = plt.figure(figsize=(18, 12), tight_layout=True) + fig.suptitle(title_str) + plt.subplot(231) + + ax1 = plt.subplot(2, 3, 1) + ax1.plot(X[:, 0], X[:, 1], label="trajectory") + ax1.legend() + ax1.set_xlabel("x_position [m]") + ax1.set_ylabel("y_position [m]") + + time_normalize_1 = ctrl_freq * sim_dt + f_s = int(1.0 / time_normalize_1) + + ax2 = plt.subplot(2, 3, 2) + X_acc = np.fft.fft(U[:, 0]) / len(U[:, 0]) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(U[:, 0])) * f_s + ax2.stem( + freqs, + np.abs(X_acc), + use_line_collection=True, + basefmt="k-", + markerfmt="cx", + label="acc input", + ) + ax2.legend() + ax2.set_xlim([-1.0, 1.0]) + ax2.set_xlabel("freq") + ax2.set_ylabel("amplitude") + + ax3 = plt.subplot(2, 3, 3) + X_steer = np.fft.fft(U[:, 1]) / len(U[:, 1]) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(U[:, 1])) * f_s + ax3.stem( + freqs, + np.abs(X_steer), + use_line_collection=True, + basefmt="k-", + markerfmt="cx", + label="steer input", + ) + ax3.legend() + ax3.set_xlim([-1.0, 1.0]) + ax3.set_xlabel("freq") + ax3.set_ylabel("amplitude") + + ax5 = plt.subplot(2, 3, 5) + ax5.plot(time_normalize_1 * np.arange(U.shape[0]), U[:, 0], label="acc input") + ax5.legend() + + ax6 = plt.subplot(2, 3, 6) + ax6.plot(time_normalize_1 * np.arange(U.shape[0]), U[:, 1], label="steer input") + ax6.legend() + + if save_file: + png_save_dir = save_dir_ + else: + png_save_dir = "." + if control_type == "ff": + plt.savefig(png_save_dir + "/python_simulator_feedforward_drive.png") + elif control_type == "pp": + plt.savefig(png_save_dir + "/python_simulator_pure_pursuit_drive.png") + plt.close() + + if ( + visualize + and (control_type == "mpc") + and (i % 1000 * ctrl_freq == 999 * ctrl_freq or i == t_eval.size - 1 or break_flag) + ): + fig = plt.figure(figsize=(24, 15), tight_layout=True) + if not use_trained_model: + title_str = "control_using_nominal_model: " + else: + title_str = "control_using_trained_model: " + if perturbed_sim_flag: + title_str += ( + "perturbed_sim: " + + str(sim_setting_dict) + + ", nominal_model: " + + str(nominal_setting_dict_display) + ) + fig.suptitle(title_str) + + plt.subplot(331) + + ax1 = plt.subplot(3, 3, 1) + X = np.array(log_updater.X_history) + U = np.array(log_updater.U_history) + X_des_hist = np.array(controller.X_des_history) + time_normalize_1 = ctrl_freq * sim_dt + time_normalize_2 = ctrl_freq * mpc_freq * sim_dt + ax1.scatter( + trajectory_data[:, 1], + trajectory_data[:, 2], + s=4, + c="orange", + label="reference_trajectory", + ) + ax1.plot(X[:, 0], X[:, 1], label="trajectory") + if mode != "mppi": + ax1.scatter( + controller.nominal_traj_ilqr[:, 0], + controller.nominal_traj_ilqr[:, 1], + s=4, + c="red", + label="pred_trajectory_ilqr", + ) + true_prediction, nominal_inputs = F_true_predict( + x_current, + controller.u_old, + controller.nominal_inputs_ilqr, + acc_des_queue, + steer_des_queue, + ) + ax1.scatter( + true_prediction[:, 0], + true_prediction[:, 1], + s=4, + c="green", + label="true_prediction", + ) + if mode != "ilqr": + ax1.scatter( + controller.nominal_traj_mppi[:, 0], + controller.nominal_traj_mppi[:, 1], + s=4, + c="pink", + label="pred_trajectory_mppi", + ) + + ax1.legend() + ax1.set_xlabel("x_position [m]") + ax1.set_ylabel("y_position [m]") + + ax2 = plt.subplot(3, 3, 2) + tracking_error_array = np.array(tracking_error_list) + lateral_deviation = ( + -np.sin(X_des_hist[:, 3]) * tracking_error_array[:, 0] + + np.cos(X_des_hist[:, 3]) * tracking_error_array[:, 1] + ) + + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + lateral_deviation, + label="lateral_deviation", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.05 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.05 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.1 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.1 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.15 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.15 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.2 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.2 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.set_xlabel("Time [s]") + ax2.set_ylabel("Lateral deviation [m]") + ax2.legend() + + straight_line_index = np.where(X_des_hist[:, 0] < 250.0)[ + 0 + ].max() # Before 250 [m] is considered to be a straight run. + total_abs_max_lateral_deviation = np.abs(lateral_deviation).max() + total_abs_mean_lateral_deviation = np.abs(lateral_deviation).mean() + straight_line_abs_max_lateral_deviation = np.abs( + lateral_deviation[: straight_line_index + 1] + ).max() + ax2.set_title( + "abs_max(lateral_dev) = " + + str(total_abs_max_lateral_deviation) + + "\nabs_max(lateral_dev[straight_line]) = " + + str(straight_line_abs_max_lateral_deviation) + ) + + ax3 = plt.subplot(3, 3, 4) + ax3.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 2], label="velocity") + ax3.plot( + time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 2], label="velocity_target" + ) + ax3.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 2], + label="velocity_error", + ) + if mode != "mppi": + ax3.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 2], + s=4, + label="velocity_true_prediction", + ) + ax3.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 2], + s=4, + label="velocity_prediction_ilqr", + ) + ax3.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax3.set_xlabel("Time [s]") + ax3.set_ylabel("velocity [m/s]") + ax3.legend() + total_abs_max_velocity_error = np.abs(tracking_error_array[:, 2]).max() + total_abs_mean_velocity_error = np.abs(tracking_error_array[:, 2]).mean() + straight_line_abs_max_velocity_error = np.abs( + tracking_error_array[: straight_line_index + 1, 2] + ).max() + ax3.set_title( + "abs_max(velocity_error) = " + + str(total_abs_max_velocity_error) + + "\nabs_max(velocity_error[straight_line]) = " + + str(straight_line_abs_max_velocity_error) + ) + + ax4 = plt.subplot(3, 3, 5) + ax4.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 3], label="yaw") + ax4.plot(time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 3], label="yaw_target") + ax4.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 3], + label="yaw_error", + ) + if mode != "mppi": + ax4.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 3], + s=4, + label="yaw_true_prediction", + ) + ax4.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 3], + s=4, + label="yaw_prediction_ilqr", + ) + ax4.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax4.set_xlabel("Time [s]") + ax4.set_ylabel("yaw [rad]") + ax4.legend() + total_abs_max_yaw_error = np.abs(tracking_error_array[:, 3]).max() + total_abs_mean_yaw_error = np.abs(tracking_error_array[:, 3]).mean() + straight_line_abs_max_yaw_error = np.abs( + tracking_error_array[: straight_line_index + 1, 3] + ).max() + ax4.set_title( + "abs_max(yaw_error) = " + + str(total_abs_max_yaw_error) + + "\nabs_max(yaw_error[straight_line]) = " + + str(straight_line_abs_max_yaw_error) + ) + + ax5 = plt.subplot(3, 3, 7) + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 4], label="acc") + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), U[:, 0], label="acc_input") + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 4], label="acc_target") + ax5.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 4], + label="acc_error", + ) + if mode != "mppi": + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 4], + s=4, + label="acc_true_prediction", + ) + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 4], + s=4, + label="acc_prediction_ilqr", + ) + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(nominal_inputs.shape[0]), + nominal_inputs[:, 0], + s=4, + label="acc_input_schedule", + ) + ax5.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax5.set_xlabel("Time [s]") + ax5.set_ylabel("acc [m/s^2]") + ax5.legend() + total_abs_max_acc_error = np.abs(tracking_error_array[:, 4]).max() + total_abs_mean_acc_error = np.abs(tracking_error_array[:, 4]).mean() + straight_line_abs_max_acc_error = np.abs( + tracking_error_array[: straight_line_index + 1, 4] + ).max() + ax5.set_title( + "abs_max(acc_error) = " + + str(total_abs_max_acc_error) + + "\nabs_max(acc_error[straight_line]) = " + + str(straight_line_abs_max_acc_error) + ) + + ax6 = plt.subplot(3, 3, 8) + ax6.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 5], label="steer") + ax6.plot(time_normalize_1 * np.arange(X.shape[0]), U[:, 1], label="steer_input") + ax6.plot( + time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 7], label="steer_mpc_target" + ) + ax6.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 5], + label="steer_error", + ) + if mode != "mppi": + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 5], + s=4, + label="steer_true_prediction", + ) + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 5], + s=4, + label="steer_prediction_ilqr", + ) + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(nominal_inputs.shape[0]), + nominal_inputs[:, 1], + s=4, + label="steer_input_schedule", + ) + ax6.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax6.set_xlabel("Time [s]") + ax6.set_ylabel("steer [rad]") + ax6.legend() + total_abs_max_steer_error = np.abs(tracking_error_array[:, 5]).max() + total_abs_mean_steer_error = np.abs(tracking_error_array[:, 5]).mean() + straight_line_abs_max_steer_error = np.abs( + tracking_error_array[: straight_line_index + 1, 5] + ).max() + ax6.set_title( + "abs_max(steer_error) = " + + str(total_abs_max_steer_error) + + "\nabs_max(steer_error[straight_line]) = " + + str(straight_line_abs_max_steer_error) + ) + + ax7 = plt.subplot(3, 3, 3) + f_s = int(1.0 / time_normalize_1) + + steer_state = X[:, 5] + X_steer = np.fft.fft(steer_state) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(steer_state)) * f_s + ax7.stem( + freqs, + np.abs(X_steer) / len(steer_state), + use_line_collection=True, + basefmt="k-", + markerfmt="rx", + label="steer_state", + ) + + lateral_acc = X[:, 2] * X[:, 2] * np.tan(X[:, 5]) / L + steer_dot = np.zeros(X.shape[0]) + steer_dot[0] = (X[1, 5] - X[0, 5]) / time_normalize_1 + steer_dot[-1] = (X[-1, 5] - X[-2, 5]) / time_normalize_1 + steer_dot[1:-1] = 0.5 * (X[2:, 5] - X[:-2, 5]) / time_normalize_1 + lateral_jerk = 2 * X[:, 2] * np.tan(X[:, 5]) * X[:, 4] / L + X[:, 2] * X[ + :, 2 + ] * steer_dot / (L * np.cos(X[:, 5]) * np.cos(X[:, 5])) + + X_lateral_acc = np.fft.fft(lateral_acc) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(lateral_acc)) * f_s + ax7.stem( + freqs, + np.abs(X_lateral_acc) / len(lateral_acc), + use_line_collection=True, + basefmt="k-", + markerfmt="gx", + label="lateral_acc", + ) + + X_lateral_jerk = np.fft.fft(lateral_jerk) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(lateral_jerk)) * f_s + ax7.stem( + freqs, + np.abs(X_lateral_jerk) / len(lateral_jerk), + use_line_collection=True, + basefmt="k-", + markerfmt="bx", + label="lateral_jerk", + ) + + ax7.set_xlabel("Frequency in Hertz[Hz]") + ax7.set_ylabel("Amplitude (normalized dividing by data length)") + ax7.set_xlim(-1, 1) + ax7.legend() + + if use_accel_map: + ax9 = plt.subplot(3, 3, 9, projection="3d") + X1, X2 = np.meshgrid(current_vel_axis, accel_cmd_axis) + ax9.plot_surface(X1, X2, accel_map_data) + + if save_file: + png_save_dir = save_dir_ + else: + png_save_dir = "." + if not use_trained_model: + plt.savefig(png_save_dir + "/python_simulator_nominal_model_fig_" + str(i) + ".png") + else: + plt.savefig(png_save_dir + "/python_simulator_trained_model_fig_" + str(i) + ".png") + plt.close() + + np.savetxt( + save_dir_ + "/lateral_deviation.csv", + np.hstack( + [time_normalize_1 * np.arange(tracking_error_array.shape[0]), lateral_deviation] + ), + delimiter=",", + ) + + np.savetxt( + save_dir_ + "/steer_state.csv", + np.hstack( + [time_normalize_1 * np.arange(tracking_error_array.shape[0]), steer_state] + ), + delimiter=",", + ) + + acc_des_queue.append(u_opt[0]) + steer_des_queue.append(u_opt[1]) + u_actual_input = np.array([acc_des_queue.pop(0), steer_des_queue.pop(0)]) + + # Logic-level restrictions on control inputs + delta_steer_max = steer_rate_lim * sim_dt + u_actual_input[0] = np.clip(u_actual_input[0], -vel_rate_lim, vel_rate_lim) + u_actual_input[1] = np.clip( + u_actual_input[1], + prev_u_actual_input[1] - delta_steer_max, + prev_u_actual_input[1] + delta_steer_max, + ) + + x_next = F_sim(x_current, u_actual_input) + x_current = x_next.copy() + prev_u_actual_input = u_actual_input.copy() + if break_flag: + controller.send_initialize_input_queue() + controller.stop_model_update() + break + if save_file: + log_updater.save(save_dir_) + + if control_type == "mpc" and perturbed_sim_flag: + auto_test_performance_result_dict = { + "total_abs_max_lateral_deviation": total_abs_max_lateral_deviation, + "straight_line_abs_max_lateral_deviation": straight_line_abs_max_lateral_deviation, + "total_abs_max_velocity_error": total_abs_max_velocity_error, + "total_abs_max_yaw_error": total_abs_max_yaw_error, + "total_abs_max_acc_error": total_abs_max_acc_error, + "total_abs_max_steer_error": total_abs_max_steer_error, + "use_trained_model": use_trained_model, + "sim_setting_dict": sim_setting_dict, + "nominal_setting_dict_display": nominal_setting_dict_display, + } + auto_test_performance_result_list = [ + total_abs_max_lateral_deviation, + total_abs_max_velocity_error, + total_abs_max_yaw_error, + total_abs_max_acc_error, + total_abs_max_steer_error, + total_abs_mean_lateral_deviation, + total_abs_mean_velocity_error, + total_abs_mean_yaw_error, + total_abs_mean_acc_error, + total_abs_mean_steer_error, + straight_line_abs_max_lateral_deviation, + ] + + if save_file: + with open(save_dir_ + "/auto_test_performance_result.json", "w") as json_f: + json.dump(auto_test_performance_result_dict, json_f) + print("how_many_time_controlled", calculated) + + return auto_test_performance_result_list + + +def create_straight_line_test_csv( + jerk=0.3, starting_vel=5.0, interval_1=2.0, interval_2=3.0, interval_3=10.0 +): + """Generate data for a straight line driving test.""" + t_1 = 10.0 + t_2 = t_1 + interval_1 # Increasing acceleration. + t_3 = t_2 + interval_2 # Constant acceleration + t_4 = t_3 + interval_1 # Decreasing acceleration. + t_5 = t_4 + interval_3 # acceleration = 0 + t_6 = t_5 + interval_1 # Decreasing acceleration. + t_7 = t_6 + interval_2 # Constant acceleration + t_8 = t_7 + interval_1 # Decreasing acceleration. + vel_t1 = starting_vel + x_t1 = starting_vel * t_1 + vel_t2 = vel_t1 + 0.5 * jerk * interval_1 * interval_1 + x_t2 = x_t1 + vel_t1 * interval_1 + 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t3 = vel_t2 + jerk * interval_1 * interval_2 + x_t3 = x_t2 + vel_t2 * interval_2 + 0.5 * jerk * interval_1 * interval_2 * interval_2 + vel_t4 = vel_t3 + 0.5 * jerk * interval_1 * interval_1 + x_t4 = x_t3 + vel_t4 * interval_1 - 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t5 = vel_t4 + x_t5 = x_t4 + vel_t4 * interval_3 + vel_t6 = vel_t5 - 0.5 * jerk * interval_1 * interval_1 + x_t6 = x_t5 + vel_t5 * interval_1 - 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t7 = vel_t6 - jerk * interval_1 * interval_2 + x_t7 = x_t6 + vel_t6 * interval_2 - 0.5 * jerk * interval_1 * interval_2 * interval_2 + vel_t8 = vel_t7 - 0.5 * jerk * interval_1 * interval_1 + x_t8 = x_t7 + vel_t8 * interval_1 + 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + + def calc_longitudinal_state(t): + if t < t_1: + return starting_vel * t, starting_vel, 0.0 + elif t < t_2: + return ( + x_t1 + vel_t1 * (t - t_1) + 0.5 * jerk * (t - t_1) * (t - t_1) * (t - t_1) / 3, + vel_t1 + 0.5 * jerk * (t - t_1) * (t - t_1), + jerk * (t - t_1), + ) + elif t < t_3: + return ( + x_t2 + vel_t2 * (t - t_2) + 0.5 * jerk * (t_2 - t_1) * (t - t_2) * (t - t_2), + vel_t2 + jerk * (t_2 - t_1) * (t - t_2), + jerk * (t_2 - t_1), + ) + elif t < t_4: + return ( + x_t4 - vel_t4 * (t_4 - t) + 0.5 * jerk * (t_4 - t) * (t_4 - t) * (t_4 - t) / 3, + vel_t4 - 0.5 * jerk * (t_4 - t) * (t_4 - t), + jerk * (t_4 - t), + ) + elif t < t_5: + return x_t4 + vel_t4 * (t - t_4), vel_t4, 0.0 + elif t < t_6: + return ( + x_t5 + vel_t5 * (t - t_5) - 0.5 * jerk * (t - t_5) * (t - t_5) * (t - t_5) / 3, + vel_t5 - 0.5 * jerk * (t - t_5) * (t - t_5), + -jerk * (t - t_5), + ) + elif t < t_7: + return ( + x_t6 + vel_t6 * (t - t_6) - 0.5 * jerk * (t_6 - t_5) * (t - t_6) * (t - t_6), + vel_t6 - jerk * (t_6 - t_5) * (t - t_6), + -jerk * (t_6 - t_5), + ) + elif t < t_8: + return ( + x_t8 - vel_t8 * (t_8 - t) - 0.5 * jerk * (t_8 - t) * (t_8 - t) * (t_8 - t) / 3, + vel_t8 + 0.5 * jerk * (t_8 - t) * (t_8 - t), + -jerk * (t_8 - t), + ) + else: + return x_t8 + vel_t8 * (t - t_8), vel_t8, 0.0 + + t_range = [0, 100] + time_stamps = np.arange(*t_range, 0.001) + trajectory_data = np.zeros((time_stamps.shape[0], 9)) + trajectory_data[:, 0] = time_stamps + for i in range(time_stamps.shape[0]): + ( + trajectory_data[i, 1], + trajectory_data[i, 3], + trajectory_data[i, 5], + ) = calc_longitudinal_state(time_stamps[i]) + np.savetxt("straight_line.csv", trajectory_data, delimiter=",") diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py new file mode 100644 index 0000000000000..6b477bb804ac9 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py @@ -0,0 +1,36 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import numpy as np +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model + +initial_error = np.array( + [0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias] +) + +save_dir = "test_python_sim" +python_simulator.slalom_drive(save_dir=save_dir, initial_error=initial_error) + +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(save_dir) +model_trainer.save_train_data(save_dir) +model_trainer.get_trained_model() +model_trainer.save_models(save_dir=save_dir) + +save_dir = "test_python_trained_sim" +load_dir = "test_python_sim" +python_simulator.slalom_drive( + save_dir=save_dir, load_dir=load_dir, use_trained_model=True, initial_error=initial_error +) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py new file mode 100644 index 0000000000000..3125719556559 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py @@ -0,0 +1,392 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore oneline + +import argparse +from enum import Enum +from importlib import reload as ir +import json +import os +import time +import traceback +from typing import Dict + +import numpy as np +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model + +parser = argparse.ArgumentParser() +parser.add_argument("--param_name", default=None) +args = parser.parse_args() + +P1 = 0.8 +P2 = 1.2 + +USE_TRAINED_MODEL_DIFF = True +DATA_COLLECTION_MODE = "pp" # option: "pp": pure_pursuit, "ff": feed_forward, "mpc": smart_mpc +USE_POLYNOMIAL_REGRESSION = True +USE_SELECTED_POLYNOMIAL = True +FORCE_NN_MODEL_TO_ZERO = False + + +FIT_INTERCEPT = True # Should be True if FORCE_NN_MODEL_TO_ZERO is True +USE_INTERCEPT = False # Should be True if FORCE_NN_MODEL_TO_ZERO is True + + +class ChangeParam(Enum): + """Parameters to be changed when running the simulation.""" + + steer_bias = [ + -1.0 * np.pi / 180.0, + -0.8 * np.pi / 180.0, + -0.6 * np.pi / 180.0, + -0.4 * np.pi / 180.0, + -0.2 * np.pi / 180.0, + 0.0, + 0.2 * np.pi / 180.0, + 0.4 * np.pi / 180.0, + 0.6 * np.pi / 180.0, + 0.8 * np.pi / 180.0, + 1.0 * np.pi / 180.0, + ] + """steer midpoint (soft + hard)""" + + steer_rate_lim = [0.020, 0.050, 0.100, 0.150, 0.200, 0.300, 0.400, 0.500] + """Maximum steer angular velocity""" + + vel_rate_lim = [0.5, 1.0, 3.0, 5.0, 7.0, 9.0] + """Maximum acceleration/deceleration""" + + wheel_base = [0.5, 1.0, 1.5, 2.0, 3.0, 5.0, 7.0] + """wheel base""" + + steer_dead_band = [0.0000, 0.0012, 0.0025, 0.0050, 0.01] + """steer dead band""" + + adaptive_gear_ratio_coef = [ + [15.713, 0.053, 0.042, 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, P2 * 0.042], + ] + """velocity-dependent gear ratio""" + + acc_time_delay = [0.00, 0.1, 0.27, 0.40, 0.60, 0.80, 1.01] + """acc time delay""" + + steer_time_delay = [0.00, 0.1, 0.27, 0.40, 0.60, 0.80, 1.02] + """steer time delay""" + + acc_time_constant = [0.01, 0.1, 0.20, 0.24, 0.40, 0.60, 0.80, 1.01] + """time constant""" + + steer_time_constant = [0.01, 0.1, 0.20, 0.24, 0.40, 0.60, 0.80, 1.02] + """time constant""" + + accel_map_scale = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.0] + """pedal - real acceleration correspondence""" + + acc_scaling = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.01] + """Acceleration scaling coefficient""" + + steer_scaling = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.02] + """Steer scaling coefficient""" + + vehicle_type = [1, 2, 3, 4] + """change to other vehicle parameters""" + + +def run_simulator(change_param: ChangeParam): + """Run the simulator.""" + # initialize parameters + print("reset sim_setting_json") + data: Dict[str, float] = {} + with open("sim_setting.json", "w") as f: + json.dump(data, f) + + param_val_list = change_param.value + start_time = time.time() + + for j in range(len(param_val_list)): + i = j + 0 + with open("sim_setting.json", "r") as f: + data = json.load(f) + + data[change_param.name] = param_val_list[j] + with open("sim_setting.json", "w") as f: + json.dump(data, f) + ir(python_simulator) + + try: + initial_error = np.array( + [0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias] + ) + if DATA_COLLECTION_MODE in ["ff", "pp"]: + if DATA_COLLECTION_MODE == "ff": + save_dir = "test_feedforward_sim" + change_param.name + str(i) + else: + save_dir = "test_pure_pursuit_sim" + change_param.name + str(i) + python_simulator.slalom_drive( + save_dir=save_dir, + control_type=DATA_COLLECTION_MODE, + t_range=[0, 200.0], + acc_width_range=0.005, + acc_period_range=[5.0, 20.0], + steer_width_range=0.005, + steer_period_range=[5.0, 20.0], + large_steer_width_range=0.05, + large_steer_period_range=[10.0, 20.0], + start_large_steer_time=150.0, + ) + if FORCE_NN_MODEL_TO_ZERO: + model_trainer = train_drive_NN_model.train_drive_NN_model() + else: + model_trainer = train_drive_NN_model.train_drive_NN_model( + alpha_1_for_polynomial_regression=0.1**5, + alpha_2_for_polynomial_regression=0.1**5, + ) + + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.get_trained_model( + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + load_dir = save_dir + if DATA_COLLECTION_MODE == "ff": + save_dir = "test_python_ff_aided_sim_" + change_param.name + str(i) + elif DATA_COLLECTION_MODE == "pp": + save_dir = "test_python_pp_aided_sim_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + load_dir=load_dir, + save_dir=save_dir, + use_trained_model=True, + use_trained_model_diff=USE_TRAINED_MODEL_DIFF, + initial_error=initial_error, + ) + + print("learning_computation_time:", learning_computation_time) + if DATA_COLLECTION_MODE == "ff": + f = open(save_dir + "/computational_time_learning_from_ff_data.txt", "w") + f.write(str(learning_computation_time)) + f.close() + f = open( + "auto_test_result_intermediate_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open(save_dir + "/computational_time_learning_from_pp_data.txt", "w") + f.write(str(learning_computation_time)) + f.close() + f = open( + "auto_test_result_intermediate_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + save_dir = "test_python_sim_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + save_dir=save_dir, + initial_error=initial_error, + ) + f = open("auto_test_result_nominal_model_control.csv", mode="a") + + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + + print(i, "auto_test_performance_result_list", auto_test_performance_result_list) + + skip_learning_for_developing_testcase = False + if not skip_learning_for_developing_testcase: + ir(train_drive_NN_model) + model_trainer = train_drive_NN_model.train_drive_NN_model() + learning_computation_time = None + if DATA_COLLECTION_MODE in ["ff", "pp"]: + model_trainer.add_data_from_csv(load_dir) + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.update_saved_trained_model( + path=load_dir + "/model_for_test_drive.pth", + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + if DATA_COLLECTION_MODE == "ff": + load_dir = "test_python_ff_aided_sim_" + change_param.name + str(i) + save_dir = "test_python_ff_aided_sim_trained_" + change_param.name + str(i) + elif DATA_COLLECTION_MODE == "pp": + load_dir = "test_python_pp_aided_sim_" + change_param.name + str(i) + save_dir = "test_python_pp_aided_sim_trained_" + change_param.name + str(i) + else: + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.get_trained_model( + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + + load_dir = "test_python_sim_" + change_param.name + str(i) + save_dir = "test_python_sim_trained_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + load_dir=load_dir, + use_trained_model=True, + use_trained_model_diff=USE_TRAINED_MODEL_DIFF, + save_dir=save_dir, + initial_error=initial_error, + ) + print("learning_computation_time: ", learning_computation_time) + f = open(save_dir + "/test_info.txt", "w") + f.write("commit id: " + str(os.popen("git log --oneline -1").read()) + "\n") + f.write( + "computational_time_learning_from_total_data: " + + str(learning_computation_time) + + "\n" + ) + f.write("USE_TRAINED_MODEL_DIFF: " + str(USE_TRAINED_MODEL_DIFF) + "\n") + f.write("USE_POLYNOMIAL_REGRESSION: " + str(USE_POLYNOMIAL_REGRESSION) + "\n") + f.write("USE_SELECTED_POLYNOMIAL: " + str(USE_SELECTED_POLYNOMIAL) + "\n") + f.write("FORCE_NN_MODEL_TO_ZERO: " + str(FORCE_NN_MODEL_TO_ZERO) + "\n") + f.write("FIT_INTERCEPT: " + str(FIT_INTERCEPT) + "\n") + f.write("USE_INTERCEPT: " + str(USE_INTERCEPT) + "\n") + f.close() + + if DATA_COLLECTION_MODE == "ff": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv", + mode="a", + ) + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + print("experiment success") + except Exception: + print("# Catch Exception #") + print(traceback.print_exc()) + auto_test_performance_result_list = [1e16] * 11 + if DATA_COLLECTION_MODE == "ff": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv", + mode="a", + ) + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + print("experiment failure") + print("data:", data) + + print("total_time: ", time.time() - start_time) + + +def yes_no_input(): + """Let the user enter yes or no. Default is no.""" + choice = input("Please respond with 'yes' or 'no' [y/N]: ").lower() + if choice in ["y", "ye", "yes"]: + return True + return False + + +if __name__ == "__main__": + if args.param_name is None: + print("Do you want to run the simulation for all parameters at once?") + if yes_no_input(): + for _, change_param in ChangeParam.__members__.items(): + run_simulator(change_param) + else: + print("Enter the name of the parameter for which the simulation is to be run.") + input_string = input() + for name, change_param in ChangeParam.__members__.items(): + if name == input_string: + run_simulator(change_param) + break + else: + for name, change_param in ChangeParam.__members__.items(): + if name == args.param_name: + run_simulator(change_param) + break diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv 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b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/.gitignore @@ -0,0 +1,7 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py new file mode 100644 index 0000000000000..e75eedcb4bf65 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py @@ -0,0 +1,110 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath + +from functools import partial + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +sqrt_mpc_time_step = np.sqrt(drive_functions.mpc_time_step) + + +@njit(cache=True, fastmath=True) +def get_pred(x_input, theta_1, theta_2, Z, mean_mtr, cov_mtr): + """Calculate the prediction and its derivative, the deviation and its derivative based on the Gaussian process.""" + Z_norm = (Z - x_input) * theta_2 + k_ast = theta_1 * np.exp(-0.5 * ((Z - x_input) * Z_norm).sum(axis=1)) + k_ = cov_mtr @ k_ast + Z_k = Z_norm.T * k_ast + deviation = np.sqrt(theta_1 - np.dot(k_ast, k_)) + return np.dot(mean_mtr, k_ast), deviation, Z_k @ mean_mtr, -Z_k @ k_ / deviation + + +@njit(cache=True, fastmath=True) +def get_pred_deviation(x_input, theta_1, theta_2, Z, cov_mtr): + """Calculate the deviation of the prediction and its derivative based on the Gaussian process.""" + coef = np.abs(x_input[0]) + coef = coef * coef * coef * coef * coef * coef * coef + if coef > 1.0: + coef = 1.0 + Z_norm = (Z - x_input) * theta_2 + k_ast = theta_1 * np.exp(-0.5 * ((Z - x_input) * Z_norm).sum(axis=1)) + k_ = cov_mtr @ k_ast + Z_k = Z_norm.T * k_ast + deviation = np.sqrt(theta_1 - np.dot(k_ast, k_)) + return coef * deviation, -coef * Z_k @ k_ / deviation + + +@njit(cache=True, fastmath=True) +def get_pred_deviations(x_inputs, theta_1, theta_2, Z, cov_mtr, indices): + """Calculate the deviation of the predictions and their derivatives for multiple inputs based on the Gaussian process.""" + deviation = np.zeros(x_inputs.shape[0]) + deviation_dot = np.zeros((x_inputs.shape[0], x_inputs.shape[1] + 3)) + for i in range(x_inputs.shape[0]): + deviation[i], deviation_dot[i, indices] = get_pred_deviation( + x_inputs[i], theta_1, theta_2, Z, cov_mtr + ) + return sqrt_mpc_time_step * deviation, sqrt_mpc_time_step * deviation_dot + + +class transform_GP_to_numba: + """Class for fast computation of necessary calculations based on Gaussian processes with numba.""" + + def __init__(self, i, dir_name="."): + indices = np.concatenate( + ( + np.array([2, 4, 5]), + np.arange( + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size + ) + + 6, + ) + ) + file_names = [ + "/GP_x_info.npz", + "/GP_y_info.npz", + "/GP_v_info.npz", + "/GP_theta_info.npz", + "/GP_acc_info.npz", + "/GP_steer_info.npz", + ] + file_name = file_names[i] + GP_info = np.load(dir_name + file_name) + theta_1 = 1 * GP_info["theta_1"] + theta_2 = GP_info["theta_2"] + Z = GP_info["Z"] + mean_mtr = GP_info["mean_mtr"] + cov_mtr = GP_info["cov_mtr"] + self.get_pred = partial( + get_pred, + theta_1=theta_1, + theta_2=theta_2, + Z=Z, + mean_mtr=mean_mtr, + cov_mtr=cov_mtr, + ) + self.pred_deviation = partial( + get_pred_deviation, theta_1=theta_1, theta_2=theta_2, Z=Z, cov_mtr=cov_mtr + ) + self.pred_deviations = partial( + get_pred_deviations, + theta_1=theta_1, + theta_2=theta_2, + Z=Z, + cov_mtr=cov_mtr, + indices=indices, + ) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py new file mode 100644 index 0000000000000..f35789ee39fd3 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py @@ -0,0 +1,247 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.scripts import proxima_calc +import torch +from torch import nn + +dim_steer_layer_1_head = 32 +dim_steer_layer_1_tail = 16 +dim_steer_layer_2 = 8 +dim_acc_layer_1 = 16 +dim_acc_layer_2 = 16 + + +def nominal_model_input(Var, lam, step): + """Calculate prediction with nominal model that takes into account time constants for the first order and time delays related to the input.""" + nominal_pred = Var[:, 0] + nominal_pred = ( + nominal_pred + (Var[:, step] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + nominal_pred = ( + nominal_pred + (Var[:, step - 1] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + nominal_pred = ( + nominal_pred + (Var[:, step - 2] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + return nominal_pred + + +def loss_fn_plus_tanh(loss_fn, pred, Y, tanh_gain, tanh_weight): + """Compute the loss function to be used in the training.""" + loss = loss_fn(pred, Y) + loss += tanh_weight * loss_fn( + torch.tanh(tanh_gain * (pred[:, -1] - Y[:, -1])), torch.zeros(Y.shape[0]) + ) + return loss + + +# example usage: `model = DriveNeuralNetwork(params...).to("cpu")` +class DriveNeuralNetwork(nn.Module): + """Define the neural net model to be used in vehicle control.""" + + def __init__( + self, + hidden_layer_sizes=(32, 16), + randomize=0.01, + acc_drop_out=0.0, + steer_drop_out=0.0, + acc_delay_step=drive_functions.acc_delay_step, + steer_delay_step=drive_functions.steer_delay_step, + acc_time_constant_ctrl=drive_functions.acc_time_constant, + steer_time_constant_ctrl=drive_functions.steer_time_constant, + acc_queue_size=drive_functions.acc_ctrl_queue_size, + steer_queue_size=drive_functions.steer_ctrl_queue_size, + steer_queue_size_core=drive_functions.steer_ctrl_queue_size_core, + ): + super().__init__() + self.acc_time_constant_ctrl = acc_time_constant_ctrl + self.acc_delay_step = acc_delay_step + self.steer_time_constant_ctrl = steer_time_constant_ctrl + self.steer_delay_step = steer_delay_step + + lb = -randomize + ub = randomize + self.acc_input_index = np.concatenate(([1], np.arange(acc_queue_size) + 3)) + self.steer_input_index = np.concatenate( + ([2], np.arange(steer_queue_size_core) + acc_queue_size + 3) + ) + self.acc_input_index_ = np.arange(acc_queue_size) + 3 + self.steer_input_index_ = np.arange(steer_queue_size_core) + acc_queue_size + 3 + self.steer_input_index_full = np.arange(steer_queue_size) + acc_queue_size + 3 + self.acc_layer_1 = nn.Sequential( + nn.Linear(self.acc_input_index.shape[0], dim_acc_layer_1), + nn.ReLU(), + ) + nn.init.uniform_(self.acc_layer_1[0].weight, a=lb, b=ub) + nn.init.uniform_(self.acc_layer_1[0].bias, a=lb, b=ub) + self.steer_layer_1_head = nn.Sequential( + nn.Linear(self.steer_input_index.shape[0], dim_steer_layer_1_head), + nn.ReLU(), + ) + nn.init.uniform_(self.steer_layer_1_head[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_1_head[0].bias, a=lb, b=ub) + + self.steer_layer_1_tail = nn.Sequential( + nn.Linear(self.steer_input_index_full.shape[0], dim_steer_layer_1_tail), nn.ReLU() + ) + nn.init.uniform_(self.steer_layer_1_tail[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_1_tail[0].bias, a=lb, b=ub) + + self.acc_layer_2 = nn.Sequential(nn.Linear(dim_acc_layer_1, dim_acc_layer_2), nn.Tanh()) + nn.init.uniform_(self.acc_layer_2[0].weight, a=lb, b=ub) + nn.init.uniform_(self.acc_layer_2[0].bias, a=lb, b=ub) + + self.steer_layer_2 = nn.Sequential( + nn.Linear(dim_steer_layer_1_head + dim_steer_layer_1_tail, dim_steer_layer_2), nn.Tanh() + ) + nn.init.uniform_(self.steer_layer_2[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_2[0].bias, a=lb, b=ub) + + self.linear_relu_stack = nn.Sequential( + nn.Linear(1 + dim_acc_layer_2 + dim_steer_layer_2, hidden_layer_sizes[0]), + nn.ReLU(), + nn.Linear(hidden_layer_sizes[0], hidden_layer_sizes[1]), + nn.ReLU(), + ) + nn.init.uniform_(self.linear_relu_stack[0].weight, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[0].bias, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[2].weight, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[2].bias, a=lb, b=ub) + + self.finalize = nn.Linear(hidden_layer_sizes[1] + dim_acc_layer_2 + dim_steer_layer_2, 6) + + nn.init.uniform_(self.finalize.weight, a=lb, b=ub) + nn.init.uniform_(self.finalize.bias, a=lb, b=ub) + + self.acc_dropout = nn.Dropout(acc_drop_out) + self.steer_dropout = nn.Dropout(steer_drop_out) + + def forward(self, x): + acc_layer_1 = self.acc_layer_1(x[:, self.acc_input_index]) + steer_layer_1 = torch.cat( + ( + self.steer_layer_1_head(x[:, self.steer_input_index]), + self.steer_layer_1_tail(x[:, self.steer_input_index_full]), + ), + dim=1, + ) + acc_layer_2 = self.acc_layer_2(self.acc_dropout(acc_layer_1)) + steer_layer_2 = self.steer_layer_2(self.steer_dropout(steer_layer_1)) + + pre_pred = self.linear_relu_stack(torch.cat((x[:, [0]], acc_layer_2, steer_layer_2), dim=1)) + pred = self.finalize(torch.cat((pre_pred, acc_layer_2, steer_layer_2), dim=1)) + return pred + + +class EarlyStopping: + """Class for early stopping in NN training.""" + + def __init__(self, initial_loss, tol=0.01, patience=30): + self.epoch = 0 # Initialise the counter for the number of epochs being monitored. + self.best_loss = float("inf") # Initialise loss of comparison with infinity 'inf'. + self.patience = patience # Initialise the number of epochs to be monitored with a parameter + self.initial_loss = initial_loss.detach().item() + self.tol = tol + + def __call__(self, current_loss): + current_loss_num = current_loss.detach().item() + if current_loss_num + self.tol * self.initial_loss > self.best_loss: + self.epoch += 1 + else: + self.epoch = 0 + if current_loss_num < self.best_loss: + self.best_loss = current_loss_num + if self.epoch >= self.patience: + return True + return False + + +class transform_model_to_c: + """Pass the necessary information to the C++ program to call the trained model at high speed.""" + + def __init__( + self, + model, + A_for_linear_reg, + b_for_linear_reg, + deg, + acc_time_constant, + acc_delay_step, + steer_time_constant, + steer_delay_step, + acc_queue_size, + steer_queue_size, + steer_queue_size_core, + ): + transformer = proxima_calc.transform_model_to_eigen() + + numpy_weight_list = [] + numpy_bias_list = [] + for i, w in enumerate(model.parameters()): + if i % 2 == 0: + numpy_weight_list.append(w.detach().numpy().astype(np.float64)) + else: + numpy_bias_list.append(w.detach().numpy().astype(np.float64)) + array_weight_list_0 = numpy_weight_list[0] + array_bias_list_0 = numpy_bias_list[0] + array_weight_list_1 = numpy_weight_list[1] + array_bias_list_1 = numpy_bias_list[1] + array_weight_list_2 = numpy_weight_list[2] + array_bias_list_2 = numpy_bias_list[2] + array_weight_list_3 = numpy_weight_list[3] + array_bias_list_3 = numpy_bias_list[3] + array_weight_list_4 = numpy_weight_list[4] + array_bias_list_4 = numpy_bias_list[4] + array_weight_list_5 = numpy_weight_list[5] + array_bias_list_5 = numpy_bias_list[5] + array_weight_list_6 = numpy_weight_list[6] + array_bias_list_6 = numpy_bias_list[6] + array_weight_list_7 = numpy_weight_list[7] + array_bias_list_7 = numpy_bias_list[7] + + transformer.set_params( + array_weight_list_0, + array_weight_list_1, + array_weight_list_2, + array_weight_list_3, + array_weight_list_4, + array_weight_list_5, + array_weight_list_6, + array_weight_list_7, + array_bias_list_0, + array_bias_list_1, + array_bias_list_2, + array_bias_list_3, + array_bias_list_4, + array_bias_list_5, + array_bias_list_6, + array_bias_list_7, + A_for_linear_reg, + b_for_linear_reg, + deg, + acc_time_constant, + acc_delay_step, + steer_time_constant, + steer_delay_step, + acc_queue_size, + steer_queue_size, + steer_queue_size_core, + ) + self.pred = transformer.rot_and_d_rot_error_prediction + self.pred_with_diff = transformer.rot_and_d_rot_error_prediction_with_diff + self.Pred = transformer.Rotated_error_prediction diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py new file mode 100644 index 0000000000000..b21fcf72da931 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py @@ -0,0 +1,943 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore optim numba interp + + +"""Define a drive_controller class that calculates the final input of the Proxima-side MPC.""" +from functools import partial +from importlib import reload as ir +import threading +import time + +import numpy as np +import scipy.interpolate # type: ignore +from sklearn.preprocessing import PolynomialFeatures +from smart_mpc_trajectory_follower.scripts import drive_GP +from smart_mpc_trajectory_follower.scripts import drive_NN +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.scripts import drive_iLQR +from smart_mpc_trajectory_follower.scripts import drive_mppi +import torch + +ctrl_index_for_polynomial_reg = np.concatenate( + ( + np.arange(3), + [3 + drive_functions.acc_delay_step], + [3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_delay_step], + ) +) + + +class drive_controller: + """Calculate the final input of the Proxima-side MPC. + + Fields that can take None follow these specifications unless otherwise noted. + * If None, read from drive_functions.py + * If Bool, the input value is used + """ + + use_trained_model: bool | None + """Whether to use trained models """ + + use_trained_model_diff: bool | None + """Assuming a trained model is used, whether or not to use even its derivatives.""" + + update_trained_model: bool | None + """Whether to update the model online with the data under control.""" + + mode: str | None + """which algorithm to use, "mppi", "ilqr", or "mppi_ilqr" """ + + use_x_noise: bool | None + """Whether to reflect the uncertainty of the straight-line position when performing iLQG""" + + use_y_noise: bool | None + """Whether to reflect the uncertainty of the lateral position when performing iLQG""" + + use_v_noise: bool | None + """ Whether to reflect the uncertainty of the straight-line velocity when performing iLQG""" + + use_theta_noise: bool | None + """ Whether to reflect the uncertainty of the yaw angle when performing iLQG""" + + use_acc_noise: bool | None + """ Whether to reflect the uncertainty of the straight-line acceleration when performing iLQG""" + + use_steer_noise: bool | None + """ Whether to reflect the uncertainty of the steer when performing iLQG""" + + tanh_gain: float + """ Gain of the tanh term in the loss function in learning. """ + + lam: float + """ Weight fir the tanh term in the loss function in learning.""" + + alpha_1: float + """ Coefficients of the L¹ regularization term in online learning.""" + + alpha_2: float + """ Coefficients of the L² regularization term in online learning.""" + + drive_batch_size: int + """ Online learning batch sizes """ + + drive_learning_rate: float + """ Learning rate for online learning """ + + model_file_name: str + """ file name of the trained model to be loaded """ + + load_train_data_dir: str + """ directory for training data to be loaded during online learning """ + + load_GP_dir: str | None + """ directory to load the GP (Gaussian process regression) models for iLQG. """ + + def __init__( + self, + use_trained_model: bool | None = None, + use_trained_model_diff=None, + update_trained_model=None, + mode=None, + use_x_noise=None, + use_y_noise=None, + use_v_noise=None, + use_theta_noise=None, + use_acc_noise=None, + use_steer_noise=None, + tanh_gain=10.0, + lam=0.1, + alpha_1=1e-7, + alpha_2=0.0, + drive_batch_size=200, + drive_learning_rate=1e-6, + model_file_name="model_for_test_drive.pth", + load_train_data_dir=".", + load_GP_dir=None, + load_polynomial_reg_dir=None, + ): + """Initialize. + + Some arguments have a default value of None in order to reload drive_functions and update the parameters. + """ + # reload drive_functions + ir(drive_functions) + ir(drive_NN) + ir(drive_iLQR) + ir(drive_mppi) + + if use_trained_model is None: + self.use_trained_model = drive_functions.use_trained_model + else: + self.use_trained_model = use_trained_model + if not self.use_trained_model: + self.use_trained_model_diff = False + self.update_trained_model = False + else: + if use_trained_model_diff is None: + self.use_trained_model_diff = drive_functions.use_trained_model_diff + else: + self.use_trained_model_diff = use_trained_model_diff + if update_trained_model is None: + self.update_trained_model = drive_functions.update_trained_model + else: + self.update_trained_model = update_trained_model + if mode is None: + self.mode = drive_functions.mode + else: + self.mode = mode + + self.acc_delay_step = drive_functions.acc_delay_step + self.steer_delay_step = drive_functions.steer_delay_step + self.acc_time_constant_ctrl = drive_functions.acc_time_constant + self.steer_time_constant_ctrl = drive_functions.steer_time_constant + + # Term to consider noise in iLQG + if use_x_noise is None: + self.use_x_noise = drive_functions.use_x_noise + else: + self.use_x_noise = use_x_noise + if use_y_noise is None: + self.use_y_noise = drive_functions.use_y_noise + else: + self.use_y_noise = use_y_noise + if use_v_noise is None: + self.use_v_noise = drive_functions.use_v_noise + else: + self.use_v_noise = use_v_noise + if use_theta_noise is None: + self.use_theta_noise = drive_functions.use_theta_noise + else: + self.use_theta_noise = use_theta_noise + if use_acc_noise is None: + self.use_acc_noise = drive_functions.use_acc_noise + else: + self.use_acc_noise = use_acc_noise + if use_steer_noise is None: + self.use_steer_noise = drive_functions.use_steer_noise + else: + self.use_steer_noise = use_steer_noise + if not self.use_trained_model: + self.use_x_noise = False + self.use_y_noise = False + self.use_v_noise = False + self.use_theta_noise = False + self.use_acc_noise = False + self.use_steer_noise = False + + if load_GP_dir is None: + self.load_GP_dir = drive_functions.load_dir + else: + self.load_GP_dir = load_GP_dir + if load_polynomial_reg_dir is None: + self.load_polynomial_reg_dir = drive_functions.load_dir + else: + self.load_polynomial_reg_dir = load_polynomial_reg_dir + + self.drive_batch_size = drive_batch_size + self.alpha_1 = alpha_1 + self.alpha_2 = alpha_2 + self.tanh_gain = tanh_gain + self.lam = lam + + self.init = True + self.initialize_input_queue = True + self.mppi = drive_mppi.drive_mppi( + drive_functions.lam, + drive_functions.Sigma, + drive_functions.max_iter_mppi, + drive_functions.sample_num, + drive_functions.mppi_tol, + drive_functions.mppi_step, + ) + self.ilqr = drive_iLQR.drive_iLQR( + drive_functions.ls_step, + drive_functions.max_iter_ls, + drive_functions.max_iter_ilqr, + drive_functions.ilqr_tol, + self.use_trained_model_diff, + ) + self.err = 0 + if self.use_trained_model: + self.model = torch.load(model_file_name) + polynomial_reg_info = np.load(self.load_polynomial_reg_dir + "/polynomial_reg_info.npz") + self.A_for_polynomial_reg = polynomial_reg_info["A"] + self.b_for_polynomial_reg = polynomial_reg_info["b"] + self.deg = int(polynomial_reg_info["deg"]) + self.polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + transform_model = drive_NN.transform_model_to_c( + self.model, + self.A_for_polynomial_reg, + self.b_for_polynomial_reg, + self.deg, + self.acc_time_constant_ctrl, + self.acc_delay_step, + self.steer_time_constant_ctrl, + self.steer_delay_step, + drive_functions.acc_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size_core, + ) + pred = transform_model.pred + Pred = transform_model.Pred + self.pred = pred + self.pred_with_diff = transform_model.pred_with_diff + self.loss_fn = torch.nn.L1Loss() + self.drive_optimizer = torch.optim.Adam( + params=self.model.parameters(), lr=drive_learning_rate + ) + self.F_N_initial_diff = partial( + drive_functions.F_with_model_initial_diff, + pred=pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + self.F_N_diff = partial( + drive_functions.F_with_model_diff, + pred=self.pred_with_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_for_candidates = partial( + drive_functions.F_with_model_for_candidates, + Pred=Pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + else: + self.F_N_diff = partial( + drive_functions.F_with_history_and_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_initial_diff = self.F_N_diff + self.F_N_for_candidates = partial( + drive_functions.F_with_history_for_candidates, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + if self.use_x_noise: + self.x_noise = drive_GP.transform_GP_to_numba( + 0, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.x_noise = None + if self.use_y_noise: + self.y_noise = drive_GP.transform_GP_to_numba( + 1, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.y_noise = None + if self.use_v_noise: + self.v_noise = drive_GP.transform_GP_to_numba( + 2, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.v_noise = None + if self.use_theta_noise: + self.theta_noise = drive_GP.transform_GP_to_numba( + 3, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.theta_noise = None + if self.use_acc_noise: + self.acc_noise = drive_GP.transform_GP_to_numba( + 4, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.acc_noise = None + if self.use_steer_noise: + self.steer_noise = drive_GP.transform_GP_to_numba( + 5, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.steer_noise = None + + self.X_des_history: list[np.ndarray] = [] + + self.X_input_list = [] + self.Y_output_list = [] + # Initial data during online training + + self.emergency = False + + self.counter = 0 + self.model_update_flag = True + if self.update_trained_model: + train_data = np.load(load_train_data_dir + "/train_data.npz") + self.X_input_list = train_data["X_input"][ + -drive_functions.max_train_data_size : + ].tolist() + self.Y_output_list = ( + train_data["Y_output"][-drive_functions.max_train_data_size :] + - self.polynomial_features.fit_transform( + train_data["X_input"][ + -drive_functions.max_train_data_size :, ctrl_index_for_polynomial_reg + ] + ) + @ (self.A_for_polynomial_reg).T + - self.b_for_polynomial_reg + ).tolist() + self.model_updater = threading.Thread(target=self.update_model) + self.model_updater.start() + + self.x_old = np.empty(6) + + def __del__(self): + print("control finished") + + def get_optimal_control( + self, + x_current_: np.ndarray, + X_des_: np.ndarray, + U_des: np.ndarray = np.zeros((drive_functions.N, drive_functions.nu_0)), + ) -> np.ndarray: + """Calculate the optimal control input from the current state, target trajectory, and target input trajectory. + + The return value is an np.ndarray of the form `(drive_functions.nu_0, )`. + """ + if self.initialize_input_queue: + x_current = x_current_.copy() + X_des, diff_delta = drive_functions.transform_yaw_for_X_des( + x_current, + X_des_, + ) + self.u_opt = X_des[0, drive_functions.nx_0 + np.arange(drive_functions.nu_0)] + self.u_old = self.u_opt.copy() + self.u_old2 = self.u_opt.copy() + self.acc_input_queue = self.u_opt[0] * np.ones(drive_functions.acc_ctrl_queue_size) + self.steer_input_queue = self.u_opt[1] * np.ones(drive_functions.steer_ctrl_queue_size) + self.nominal_inputs = drive_functions.U_des_from_X_des(self.u_old, X_des, diff_delta) + self.previous_error = np.zeros(8) + + self.X_queue_for_learning: list[np.ndarray] = [] + self.acc_input_queue_for_learning: list[np.ndarray] = [] + self.steer_input_queue_for_learning: list[np.ndarray] = [] + self.time_stamp_queue_for_learning: list[float] = [] + self.X_smoothed_queue: list[np.ndarray] = [] + + self.pre_X_input_list: list[np.ndarray] = [] + self.pre_Y_output_list: list[np.ndarray] = [] + + self.initialize_X_smoothing_time_stamp = True + else: + x_current = drive_functions.transform_yaw_for_x_current(self.x_old, x_current_) + X_des, diff_delta = drive_functions.transform_yaw_for_X_des( + x_current, + X_des_, + ) + self.u_old2 = self.u_old.copy() + self.u_old = self.u_opt.copy() + + if self.init: + self.X_current_queue = [] + self.init = False + self.X_des = X_des + + self.X_current = np.concatenate( + (x_current, self.acc_input_queue[::-1], self.steer_input_queue[::-1]) + ) + + self.X_current_queue.append(self.X_current.copy()) + if len(self.X_current_queue) > drive_functions.mpc_freq: + self.X_current_queue.pop(0) + if self.mode == "mppi": # Avoid duplicate filtering for "mppi_ilqr" mode + self.nominal_inputs = drive_functions.sg_filter_for_nominal_inputs(self.nominal_inputs) + if self.mode == "mppi" or self.mode == "mppi_ilqr": # Run mppi + self.start_mppi = time.time() + self.mppi.receive_model(self.F_N_for_candidates) + self.nominal_inputs, self.u_opt_dot, nominal_traj = (self.mppi).compute_optimal_control( + self.X_current, + self.nominal_inputs, + X_des, + U_des, + self.previous_error[:6], + ) + self.nominal_traj_mppi = nominal_traj.copy() + self.end_mppi = time.time() + if self.mode != "mppi": + self.start_ilqr = time.time() + proceed = True + for k in range(drive_functions.max_iter_ilqr): + if not proceed: + break + self.nominal_inputs = drive_functions.sg_filter_for_nominal_inputs( + self.nominal_inputs + ) + self.ilqr.receive_model( + self.F_N_initial_diff, self.F_N_diff, self.F_N_for_candidates + ) + self.nominal_inputs, self.u_opt_dot, nominal_traj, proceed = ( + self.ilqr + ).compute_optimal_control( + self.X_current, + self.nominal_inputs, + X_des, + U_des, + self.previous_error, + self.x_noise, + self.y_noise, + self.v_noise, + self.theta_noise, + self.acc_noise, + self.steer_noise, + ) + self.nominal_traj_ilqr = nominal_traj.copy() + self.nominal_inputs_ilqr = self.nominal_inputs.copy() + err = drive_functions.calc_maximum_trajectory_error(self.nominal_traj_ilqr, X_des) + if err > drive_functions.cap_pred_error[0]: + if err < drive_functions.cap_pred_error[1]: + mix_ratio = (drive_functions.cap_pred_error[1] - err) / ( + drive_functions.cap_pred_error[1] - drive_functions.cap_pred_error[0] + ) + else: + mix_ratio = 0.0 + self.nominal_inputs = mix_ratio * self.nominal_inputs + ( + 1 - mix_ratio + ) * drive_functions.U_des_from_X_des(self.u_old, X_des, diff_delta) + self.err = err + if err > 1.0: + self.emergency = True + + self.time_1 = self.ilqr.time_1 + self.time_2 = self.ilqr.time_2 + self.time_3 = self.ilqr.time_3 + self.time_4 = self.ilqr.time_4 + self.time_5 = self.ilqr.time_5 + self.end_ilqr = time.time() + + if self.use_trained_model: + self.previous_error = drive_functions.error_decay * self.previous_error + ( + 1 - drive_functions.error_decay + ) * self.pred(self.X_current) + + self.nominal_traj = nominal_traj + + self.u_opt = self.u_old + self.u_opt_dot * drive_functions.ctrl_time_step + ( + steer_lim, + steer_rate_lim_lb, + steer_rate_lim_ub, + acc_lim, + acc_rate_lim, + ) = drive_functions.calc_limits(x_current[2], x_current[4], x_current[5]) + + self.u_opt = drive_functions.u_cut_off( + self.u_opt, + self.u_old, + steer_lim, + steer_rate_lim_lb, + steer_rate_lim_ub, + acc_lim, + acc_rate_lim, + ) + + self.initialize_input_queue = False + self.X_des_history.append(X_des[0]) + self.initial_guess_for_debug = (self.nominal_inputs).copy() + + self.x_old = x_current + return self.u_opt + + def update_input_queue( + self, + time_stamp: list[float], + acc_history: list[float], + steer_history: list[float], + x_current_: np.ndarray, + ) -> None: + """Receives the history of the acceleration and steer inputs and their time stamps. + + And interpolates them to be the history of the time steps used by the controller. + The return value can be passed to get_optimal_control. + """ + if not self.initialize_input_queue: + if len(time_stamp) == 1: + self.acc_input_queue[-1] = acc_history[0] + self.steer_input_queue[-1] = steer_history[0] + elif len(time_stamp) > 1: + ctrl_num = int((time_stamp[-1] - time_stamp[0]) / drive_functions.ctrl_time_step) + acc_num = min(drive_functions.acc_ctrl_queue_size, ctrl_num) + steer_num = min(drive_functions.steer_ctrl_queue_size, ctrl_num) + time_stamp_acc = ( + drive_functions.ctrl_time_step * np.arange(acc_num) + - (acc_num - 1) * drive_functions.ctrl_time_step + + time_stamp[-1] + ) + time_stamp_steer = ( + drive_functions.ctrl_time_step * np.arange(steer_num) + - (steer_num - 1) * drive_functions.ctrl_time_step + + time_stamp[-1] + ) + acc_interpolate = scipy.interpolate.interp1d( + np.array(time_stamp), np.array(acc_history) + ) + steer_interpolate = scipy.interpolate.interp1d( + np.array(time_stamp), np.array(steer_history) + ) + + self.acc_input_queue[ + drive_functions.acc_ctrl_queue_size - acc_num : + ] = acc_interpolate(time_stamp_acc) + self.steer_input_queue[ + drive_functions.steer_ctrl_queue_size - steer_num : + ] = steer_interpolate(time_stamp_steer) + + if ( + acc_num == drive_functions.acc_ctrl_queue_size + and steer_num == drive_functions.steer_ctrl_queue_size + ): + self.X_queue_for_learning.append(x_current_) + self.acc_input_queue_for_learning.append(np.array(self.acc_input_queue)[::-1]) + self.steer_input_queue_for_learning.append( + np.array(self.steer_input_queue)[::-1] + ) + self.time_stamp_queue_for_learning.append(time_stamp[-1]) + if ( + self.initialize_X_smoothing_time_stamp + and self.time_stamp_queue_for_learning[-1] + - self.time_stamp_queue_for_learning[0] + > drive_functions.ctrl_time_step + * drive_functions.max_input_queue_size_for_learning + ): + self.initialize_X_smoothing_time_stamp = False + self.X_smoothing_time_stamp = ( + time_stamp[-1] - drive_functions.ctrl_time_step + ) + + if not self.initialize_X_smoothing_time_stamp: + while ( + self.time_stamp_queue_for_learning[-1] + > drive_functions.ctrl_time_step + self.X_smoothing_time_stamp + ): + self.X_smoothing_time_stamp += drive_functions.ctrl_time_step + time_stamp_smoothing = ( + drive_functions.ctrl_time_step + * np.arange(drive_functions.max_input_queue_size_for_learning) + - (drive_functions.max_input_queue_size_for_learning - 1) + * drive_functions.ctrl_time_step + + self.X_smoothing_time_stamp + ) + x_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.X_queue_for_learning).T, + )(time_stamp_smoothing).T + acc_input_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.acc_input_queue_for_learning).T, + )(time_stamp_smoothing).T + steer_input_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.steer_input_queue_for_learning).T, + )(time_stamp_smoothing).T + X_smoothed = np.zeros( + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size + ) + X_smoothed[0:4] = x_queue[ + drive_functions.max_input_queue_size_for_learning // 2, 0:4 + ] + X_smoothed[4] = np.dot( + x_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_acc_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_for_learning.shape[0] // 2 + + 1, + 4, + ], + drive_functions.kernel_acc_for_learning, + ) + X_smoothed[5] = np.dot( + x_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_steer_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_for_learning.shape[0] // 2 + + 1, + 5, + ], + drive_functions.kernel_steer_for_learning, + ) + X_smoothed[ + drive_functions.nx_0 : drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + ] = ( + acc_input_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_acc_des_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_des_for_learning.shape[0] // 2 + + 1 + ].T + * drive_functions.kernel_acc_des_for_learning + ).sum( + axis=1 + ) + X_smoothed[ + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size : drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size + ] = ( + steer_input_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_steer_des_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_des_for_learning.shape[0] // 2 + + 1 + ].T + * drive_functions.kernel_steer_des_for_learning + ).sum( + axis=1 + ) + self.X_smoothed_queue.append(X_smoothed) + if len(self.X_smoothed_queue) > drive_functions.mpc_freq + 1: + self.X_smoothed_queue.pop() + if len(self.X_smoothed_queue) == drive_functions.mpc_freq + 1: + acc_start = ( + drive_functions.acc_ctrl_queue_size + - drive_functions.acc_delay_step + ) + acc_end = ( + drive_functions.acc_ctrl_queue_size + - drive_functions.acc_delay_step + + drive_functions.mpc_freq + ) + steer_start = ( + drive_functions.steer_ctrl_queue_size + - drive_functions.steer_delay_step + ) + steer_end = ( + drive_functions.steer_ctrl_queue_size + - drive_functions.steer_delay_step + + drive_functions.mpc_freq + ) + + u_for_predict_x_current = np.zeros((drive_functions.mpc_freq, 2)) + u_for_predict_x_current[:, 0] = self.X_smoothed_queue[0][ + 6 : 6 + drive_functions.acc_ctrl_queue_size + ][::-1][acc_start:acc_end] + u_for_predict_x_current[:, 1] = self.X_smoothed_queue[0][ + 6 + drive_functions.acc_ctrl_queue_size : + ][::-1][steer_start:steer_end] + var_dot = self.X_smoothed_queue[-1][ + :6 + ] - drive_functions.F_multiple( + self.X_smoothed_queue[0][:6], + u_for_predict_x_current, + drive_functions.acc_time_constant, + drive_functions.steer_time_constant, + ) + var_dot /= drive_functions.mpc_time_step + + self.pre_X_input_list.append( + np.concatenate( + ( + self.X_smoothed_queue[0][[2, 4, 5]], + self.X_smoothed_queue[0][6:], + ) + ) + ) + self.pre_Y_output_list.append( + drive_functions.rotate_data( + self.X_smoothed_queue[0][:6], var_dot + ) + ) + if ( + len(self.pre_X_input_list) + > drive_functions.max_output_queue_size_for_learning + ): + self.pre_X_input_list.pop() + self.pre_Y_output_list.pop() + if ( + len(self.pre_X_input_list) + == drive_functions.max_output_queue_size_for_learning + and self.update_trained_model + ): + X_input = self.pre_X_input_list[ + drive_functions.max_output_queue_size_for_learning // 2 + ] + self.X_input_list.append(X_input) + pre_Y_output = np.array(np.array(self.pre_Y_output_list)) + Y_output = np.zeros(self.pre_Y_output_list[0].shape) + Y_output[0] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_x_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_x_out_for_learning.shape[0] + // 2 + + 1, + 0, + ], + drive_functions.kernel_x_out_for_learning, + ) + Y_output[1] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_y_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_y_out_for_learning.shape[0] + // 2 + + 1, + 1, + ], + drive_functions.kernel_y_out_for_learning, + ) + Y_output[2] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_v_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_v_out_for_learning.shape[0] + // 2 + + 1, + 2, + ], + drive_functions.kernel_v_out_for_learning, + ) + Y_output[3] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_theta_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_theta_out_for_learning.shape[0] + // 2 + + 1, + 3, + ], + drive_functions.kernel_theta_out_for_learning, + ) + Y_output[4] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_acc_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_out_for_learning.shape[0] + // 2 + + 1, + 4, + ], + drive_functions.kernel_acc_out_for_learning, + ) + Y_output[5] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_steer_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_out_for_learning.shape[0] + // 2 + + 1, + 5, + ], + drive_functions.kernel_steer_out_for_learning, + ) + self.Y_output_list.append( + Y_output + - self.A_for_polynomial_reg + @ self.polynomial_features.fit_transform( + X_input[ctrl_index_for_polynomial_reg].reshape(1, -1) + )[0] + - self.b_for_polynomial_reg + ) + if len(self.X_input_list) > drive_functions.max_train_data_size: + self.X_input_list.pop(0) + self.Y_output_list.pop(0) + while ( + self.X_smoothing_time_stamp - self.time_stamp_queue_for_learning[1] + > drive_functions.ctrl_time_step + * drive_functions.max_input_queue_size_for_learning + ): + self.X_queue_for_learning.pop(0) + self.acc_input_queue_for_learning.pop(0) + self.steer_input_queue_for_learning.pop(0) + self.time_stamp_queue_for_learning.pop(0) + + def update_input_queue_and_get_optimal_control( + self, + time_stamp, + acc_history, + steer_history, + x_current_, + X_des_, + U_des=np.zeros((drive_functions.N, drive_functions.nu_0)), + ): + """Run update_input_queue and get_optimal_control all at once.""" + self.update_input_queue(time_stamp, acc_history, steer_history, x_current_) + u_opt = self.get_optimal_control(x_current_, X_des_, U_des) + return u_opt + + def update_model(self): + """Update the learning model online.""" + while True: + if not self.model_update_flag: + break + if not self.initialize_input_queue and len(self.X_input_list) > self.drive_batch_size: + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + batch_index = np.random.choice( + X_input.shape[0], self.drive_batch_size, replace=False + ) + X_batch = torch.tensor(X_input[batch_index].astype(np.float32)).clone() + Y_batch = torch.tensor(Y_output[batch_index].astype(np.float32)).clone() + Y_pred = self.model(X_batch) + loss = drive_NN.loss_fn_plus_tanh( + self.loss_fn, Y_pred, Y_batch, self.tanh_gain, self.lam + ) + for w in self.model.parameters(): + loss = ( + loss + self.alpha_1 * torch.norm(w, p=1) + self.alpha_2 * torch.norm(w) ** 2 + ) + self.drive_optimizer.zero_grad() + loss.backward() + self.drive_optimizer.step() + + transform_model = drive_NN.transform_model_to_c( + self.model, + self.A_for_polynomial_reg, + self.b_for_polynomial_reg, + self.deg, + self.acc_time_constant_ctrl, + self.acc_delay_step, + self.steer_time_constant_ctrl, + self.steer_delay_step, + drive_functions.acc_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size_core, + ) + self.pred = transform_model.pred + self.Pred = transform_model.Pred + self.pred_with_diff = transform_model.pred_with_diff + self.F_N_initial_diff = partial( + drive_functions.F_with_model_initial_diff, + pred=self.pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_diff = partial( + drive_functions.F_with_model_diff, + pred=self.pred_with_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_for_candidates = partial( + drive_functions.F_with_model_for_candidates, + Pred=self.Pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + print("updated!!!!!!!!!!!") + time.sleep(0.1) + + def send_initialize_input_queue(self): + """Flag initialization of the history of inputs passed to the control side.""" + self.initialize_input_queue = True + + def stop_model_update(self): + """Terminate the model update.""" + self.model_update_flag = False + if self.update_trained_model: + self.model_updater.join() diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py new file mode 100644 index 0000000000000..c11b5c886b49a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py @@ -0,0 +1,1540 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath ndim + + +"""Define primary parameters and functions to be used elsewhere.""" +from functools import partial +import json +import os +from pathlib import Path +import sys +from typing import Callable + +from numba import njit +import numpy as np +import yaml + +package_path_json = str(Path(__file__).parent.parent) + "/package_path.json" +with open(package_path_json, "r") as file: + package_path = json.load(file) + +mpc_param_path = package_path["path"] + "/smart_mpc_trajectory_follower/param/mpc_param.yaml" +with open(mpc_param_path, "r") as yml: + mpc_param = yaml.safe_load(yml) + +mpc_freq = int( + mpc_param["mpc_parameter"]["mpc_setting"]["mpc_freq"] +) # Int, mpc horizon interval/control interval + +# information on MPC +ctrl_time_step = float( + mpc_param["mpc_parameter"]["mpc_setting"]["ctrl_time_step"] +) # Time interval of control. +mpc_time_step = mpc_freq * ctrl_time_step # MPC Horizon interval. +N = int(mpc_param["mpc_parameter"]["mpc_setting"]["N"]) # Length of MPC Horizon. +steer_ctrl_queue_size = int( + mpc_param["mpc_parameter"]["mpc_setting"]["steer_ctrl_queue_size"] +) # Queue for training and control +steer_ctrl_queue_size_core = int( + mpc_param["mpc_parameter"]["mpc_setting"]["steer_ctrl_queue_size_core"] +) +acc_ctrl_queue_size = int(mpc_param["mpc_parameter"]["mpc_setting"]["acc_ctrl_queue_size"]) +nx_0 = int(mpc_param["mpc_parameter"]["mpc_setting"]["nx_0"]) # dimension of the state +nu_0 = int(mpc_param["mpc_parameter"]["mpc_setting"]["nu_0"]) # dimension of the input + +################################################################# + +# Control parameters that may be changed in the experiment## + +################################################################# +mode = str(mpc_param["mpc_parameter"]["system"]["mode"]) +# cost function weights +Q = np.diag(np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q"], dtype=float)) # stage cost +Q_c = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q_c"], dtype=float) +) # Stage costs in MPC `timing_Q_c`th horizon. +Q_f = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q_f"], dtype=float) +) # terminal cost +R = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["R"], dtype=float) +) # Cost for control inputs. Here acceleration rate of change and steer rate of change. +timing_Q_c = np.array( + mpc_param["mpc_parameter"]["mpc_setting"]["timing_Q_c"], dtype=int +) # Horizon numbers to change stage costs. +reference_horizon = int(mpc_param["mpc_parameter"]["preprocessing"]["reference_horizon"]) # 50 + +acc_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["acc_lim_weight"]) +steer_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["steer_lim_weight"]) +acc_rate_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["acc_rate_lim_weight"]) +steer_rate_lim_weight = float( + mpc_param["mpc_parameter"]["cost_parameters"]["steer_rate_lim_weight"] +) + +# iLQR parameters +ls_step = float(mpc_param["mpc_parameter"]["ilqr"]["ls_step"]) # 0.9 +max_iter_ls = int(mpc_param["mpc_parameter"]["ilqr"]["max_iter_ls"]) # 10 +max_iter_ilqr = int(mpc_param["mpc_parameter"]["ilqr"]["max_iter_ilqr"]) # 1 +ilqr_tol = float(mpc_param["mpc_parameter"]["ilqr"]["ilqr_tol"]) # 0.01 + +# MPPI parameters +lam = float(mpc_param["mpc_parameter"]["mppi"]["lam"]) # 0.1 +Sigma = np.array(mpc_param["mpc_parameter"]["mppi"]["Sigma"], dtype=float) +max_iter_mppi = int(mpc_param["mpc_parameter"]["mppi"]["max_iter_mppi"]) +sample_num = int(mpc_param["mpc_parameter"]["mppi"]["sample_num"]) +mppi_tol = float(mpc_param["mpc_parameter"]["mppi"]["mppi_tol"]) +mppi_step = int(mpc_param["mpc_parameter"]["mppi"]["mppi_step"]) + +cap_pred_error = np.array(mpc_param["mpc_parameter"]["preprocessing"]["cap_pred_error"]) + +nominal_param_path = ( + package_path["path"] + "/smart_mpc_trajectory_follower/param/nominal_param.yaml" +) +with open(nominal_param_path, "r") as yml: + nominal_param = yaml.safe_load(yml) +# Vehicle body information given by default. +L = float(nominal_param["nominal_parameter"]["vehicle_info"]["wheel_base"]) # Length of vehicle [m] +steer_dead_band_for_ctrl = 0.00 # Size of the steering dead band zone given to the control side. + +acc_time_delay = float(nominal_param["nominal_parameter"]["acceleration"]["acc_time_delay"]) +acc_delay_step = min(round(acc_time_delay / ctrl_time_step), acc_ctrl_queue_size - mpc_freq) +acc_time_constant = float(nominal_param["nominal_parameter"]["acceleration"]["acc_time_constant"]) + +steer_time_delay = float(nominal_param["nominal_parameter"]["steering"]["steer_time_delay"]) +steer_delay_step = min( + round(steer_time_delay / ctrl_time_step), steer_ctrl_queue_size_core - mpc_freq +) +steer_time_constant = float(nominal_param["nominal_parameter"]["steering"]["steer_time_constant"]) + +min_steer_rate_transform_for_start = float( + mpc_param["mpc_parameter"]["cost_parameters"]["min_steer_rate_transform_for_start"] +) +power_steer_rate_transform_for_start = int( + mpc_param["mpc_parameter"]["cost_parameters"]["power_steer_rate_transform_for_start"] +) +coef_steer_rate_transform_for_start = float( + mpc_param["mpc_parameter"]["cost_parameters"]["coef_steer_rate_transform_for_start"] +) + +min_tighten_steer_rate = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["min_tighten_steer_rate"] +) +power_tighten_steer_rate_by_lateral_error = int( + mpc_param["mpc_parameter"]["to_be_deprecated"]["power_tighten_steer_rate_by_lateral_error"] +) +threshold_tighten_steer_rate_by_lateral_error = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["threshold_tighten_steer_rate_by_lateral_error"] +) +power_tighten_steer_rate_by_yaw_error = int( + mpc_param["mpc_parameter"]["to_be_deprecated"]["power_tighten_steer_rate_by_yaw_error"] +) +threshold_tighten_steer_rate_by_yaw_error = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["threshold_tighten_steer_rate_by_yaw_error"] +) +tighten_horizon = int(mpc_param["mpc_parameter"]["to_be_deprecated"]["tighten_horizon"]) + +min_loose_lateral_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["min_loose_lateral_cost"] +) +power_loose_lateral_cost = int( + mpc_param["mpc_parameter"]["cost_parameters"]["power_loose_lateral_cost"] +) +threshold_loose_lateral_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["threshold_loose_lateral_cost"] +) + +min_loose_yaw_cost = float(mpc_param["mpc_parameter"]["cost_parameters"]["min_loose_yaw_cost"]) +power_loose_yaw_cost = int(mpc_param["mpc_parameter"]["cost_parameters"]["power_loose_yaw_cost"]) +threshold_loose_yaw_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["threshold_loose_yaw_cost"] +) + +use_sg_for_nominal_inputs = bool( + mpc_param["mpc_parameter"]["preprocessing"]["use_sg_for_nominal_inputs"] +) +sg_deg_for_nominal_inputs = int( + mpc_param["mpc_parameter"]["preprocessing"]["sg_deg_for_nominal_inputs"] +) +sg_window_size_for_nominal_inputs = int( + mpc_param["mpc_parameter"]["preprocessing"]["sg_window_size_for_nominal_inputs"] +) +trained_model_param_path = ( + package_path["path"] + "/smart_mpc_trajectory_follower/param/trained_model_param.yaml" +) +with open(trained_model_param_path, "r") as yml: + trained_model_param = yaml.safe_load(yml) +use_trained_model_diff = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_trained_model_diff"] +) +use_sg_for_trained_model_diff = bool( + trained_model_param["trained_model_parameter"]["control_application"][ + "use_sg_for_trained_model_diff" + ] +) +sg_deg_for_trained_model_diff = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_deg_for_trained_model_diff" + ] +) +sg_window_size_for_trained_model_diff = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_window_size_for_trained_model_diff" + ] +) + +use_sg_for_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_sg_for_noise"] +) +sg_deg_for_noise = int( + trained_model_param["trained_model_parameter"]["control_application"]["sg_deg_for_noise"] +) +sg_window_size_for_noise = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_window_size_for_noise" + ] +) + + +load_dir = os.environ["HOME"] +save_dir = os.environ["HOME"] # +"/autoware" +use_trained_model = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_trained_model"] +) +update_trained_model = bool( + trained_model_param["trained_model_parameter"]["control_application"]["update_trained_model"] +) +max_train_data_size = int( + trained_model_param["trained_model_parameter"]["control_application"]["max_train_data_size"] +) + +error_decay = np.array( + trained_model_param["trained_model_parameter"]["control_application"]["error_decay"], + dtype=float, +) + +Error_decay = error_decay[:6] + +use_x_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_x_noise"] +) +use_y_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_y_noise"] +) +use_v_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_v_noise"] +) +use_theta_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_theta_noise"] +) +use_acc_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_acc_noise"] +) +use_steer_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_steer_noise"] +) + +# smoothing parameter in training +acc_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_sigma_for_learning"] +) +steer_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_sigma_for_learning"] +) +acc_des_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_des_sigma_for_learning"] +) +steer_des_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_des_sigma_for_learning"] +) + +x_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["x_out_sigma_for_learning"] +) +y_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["y_out_sigma_for_learning"] +) +v_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["v_out_sigma_for_learning"] +) +theta_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["theta_out_sigma_for_learning"] +) +acc_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_out_sigma_for_learning"] +) +steer_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_out_sigma_for_learning"] +) + + +# upper limit of input + + +package_path_split = str(package_path["path"]).split("/") +control_dir_path = "" +for i in range(len(package_path_split)): + control_dir_path += package_path_split[i] + if package_path_split[i] == "control": + break + control_dir_path += "/" + +limit_yaml_path = None +for curDir, dirs, files in os.walk(control_dir_path): + for name in files: + if name == "vehicle_cmd_gate.param.yaml": + if curDir.split("/")[-2] == "vehicle_cmd_gate": + limit_yaml_path = curDir + "/" + name + break + +limit_params = None +if limit_yaml_path is not None: + with open(limit_yaml_path, "r") as yml: + limit_params = yaml.safe_load(yml) +else: + print("Error: limit_yaml_path is None") + +if limit_params is not None: + reference_speed_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["reference_speed_points"] + ) + steer_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["steer_lim"]) + steer_rate_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["steer_rate_lim"] + ) + acc_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["lon_acc_lim"]) + acc_rate_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["lon_jerk_lim"] + ) + lat_acc_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["lat_acc_lim"]) + lat_jerk_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["lat_jerk_lim"] + ) +else: + print("Error: limit_params is None") + sys.exit(1) + + +@njit(cache=True, fastmath=True) +def calc_limits( + vel: float, + acc: float, + steer: float, + reference_speed_points=reference_speed_points, + steer_lim_points=steer_lim_points, + steer_rate_lim_points=steer_rate_lim_points, + acc_lim_points=acc_lim_points, + lat_acc_lim_points=lat_acc_lim_points, + lat_jerk_lim_points=lat_jerk_lim_points, +) -> tuple[float, float, float, float, float]: + """Calculate the constraints according to the current velocity, acceleration and steer. + + Returns: + float: upper and lower limit of steer + float: upper limit of steer change rate + float: lower limit of steer change rate + float: upper and lower limit of acceleration + float: upper and lower limit of acceleration change rate + + However, we write the upper limit of the "upper and lower limits". lower limit is equal to `(-1) * upper limit`. + """ + interval_index = 0 + for i in range(reference_speed_points.shape[0]): + if np.abs(vel) > reference_speed_points[i]: + interval_index += 1 + else: + break + if interval_index == 0: + steer_lim = steer_lim_points[0] + steer_rate_lim = steer_rate_lim_points[0] + acc_lim = acc_lim_points[0] + acc_rate_lim = acc_rate_lim_points[0] + lat_acc_lim = lat_acc_lim_points[0] + lat_jerk_lim = lat_jerk_lim_points[0] + elif interval_index == reference_speed_points.shape[0]: + steer_lim = steer_lim_points[-1] + steer_rate_lim = steer_rate_lim_points[-1] + acc_lim = acc_lim_points[-1] + acc_rate_lim = acc_rate_lim_points[-1] + lat_acc_lim = lat_acc_lim_points[-1] + lat_jerk_lim = lat_jerk_lim_points[-1] + else: + r = (np.abs(vel) - reference_speed_points[interval_index - 1]) / ( + reference_speed_points[interval_index] - reference_speed_points[interval_index - 1] + ) + steer_lim = (1 - r) * steer_lim_points[interval_index - 1] + r * steer_lim_points[ + interval_index + ] + steer_rate_lim = (1 - r) * steer_rate_lim_points[ + interval_index - 1 + ] + r * steer_rate_lim_points[interval_index] + acc_lim = (1 - r) * acc_lim_points[interval_index - 1] + r * acc_lim_points[interval_index] + acc_rate_lim = (1 - r) * acc_rate_lim_points[interval_index - 1] + r * acc_rate_lim_points[ + interval_index + ] + lat_acc_lim = (1 - r) * lat_acc_lim_points[interval_index - 1] + r * lat_acc_lim_points[ + interval_index + ] + lat_jerk_lim = (1 - r) * lat_jerk_lim_points[interval_index - 1] + r * lat_jerk_lim_points[ + interval_index + ] + lat_jerk_lim_coef = L * np.cos(steer) * np.cos(steer) / (vel * vel + 1e-16) + lat_jerk_lim_const = vel * acc * np.sin(2 * steer) / (vel * vel + 1e-16) + steer_rate_lat_jerk_lim_lb = np.array( + [-lat_jerk_lim_coef * lat_jerk_lim - lat_jerk_lim_const, -0.01] + ).min() + steer_rate_lat_jerk_lim_ub = np.array( + [lat_jerk_lim_coef * lat_jerk_lim - lat_jerk_lim_const, 0.01] + ).max() + + steer_rate_lb = np.array([-steer_rate_lim, steer_rate_lat_jerk_lim_lb]).max() + steer_rate_ub = np.array([steer_rate_lim, steer_rate_lat_jerk_lim_ub]).min() + + return ( + np.array([steer_lim, np.arctan(lat_acc_lim * L / (vel * vel + 1e-16))]).min(), + steer_rate_lb, + steer_rate_ub, + acc_lim, + acc_rate_lim, + ) + + +@njit(cache=True, fastmath=True) +def transform_yaw(yaw_old: float, yaw_current_: float) -> float: + """Transform the yaw angle so that the difference in yaw angle is less than or equal to π.""" + rotate_num = (yaw_current_ - yaw_old) // (2 * np.pi) + if yaw_current_ - yaw_old - 2 * rotate_num * np.pi < np.pi: + return yaw_current_ - 2 * rotate_num * np.pi + else: + return yaw_current_ - 2 * (rotate_num + 1) * np.pi + + +@njit(cache=True, fastmath=True) +def transform_yaw_for_x_current(x_old: np.ndarray, x_current_: np.ndarray) -> np.ndarray: + """Apply `transform_yaw` to x_current_ and return the result.""" + x_current = x_current_.copy() + x_current[3] = transform_yaw(x_old[3], x_current_[3]) + return x_current + + +def transform_yaw_for_X_des(x_current: np.ndarray, X_des_: np.ndarray) -> np.ndarray: + """Transform the yaw angle with respect to the target trajectory. + + X_des[0] is set to the current state. + """ + X_des = X_des_.copy() + + initial_error = X_des[0, :3] - x_current[:3] + + len_journey = max(mpc_time_step * X_des[:, 2].sum(), 5.0) + theta_des = X_des[0, 3] + diff_position = -initial_error[:2] + signed_lat_err = -np.sin(theta_des) * diff_position[0] + np.cos(theta_des) * diff_position[1] + + X_des[: reference_horizon + 1, :3] -= ( + np.arange(reference_horizon + 1)[::-1].reshape(-1, 1) + @ initial_error.reshape(1, -1) + / reference_horizon + ) + X_des[0, 3] = transform_yaw(x_current[3], X_des[0, 3]) + yaw_initial_error = X_des[0, 3] - x_current[3] + X_des[0, 3] -= yaw_initial_error + + diff_theta = -yaw_initial_error + np.arctan(signed_lat_err / len_journey) + diff_delta = L * diff_theta / len_journey + + for i in range(X_des.shape[0] - 1): + if i < reference_horizon: + X_des[i + 1, 3] = ( + transform_yaw(X_des[i, 3], X_des[i + 1, 3]) + - yaw_initial_error * (reference_horizon - i - 1) / reference_horizon + ) + else: + X_des[i + 1, 3] = transform_yaw(X_des[i, 3], X_des[i + 1, 3]) + + return X_des, diff_delta + + +@njit(cache=True, fastmath=True) +def U_des_from_X_des(u_opt: np.ndarray, X_des: np.ndarray, diff_delta: float) -> np.ndarray: + """Calculate the initial value of the MPC from the target trajectory. + + This is used for the first control or when the error calculated by calc_maximum_trajectory_error is large. + """ + U_des = np.zeros((X_des.shape[0] - 1, nu_0)) + for i in range(U_des.shape[0]): + U_des[i] = (X_des[i + 1, 6:8] - X_des[i, 6:8]) / mpc_time_step + init_error = X_des[0, 6:8] - u_opt + U_des = U_des + init_error / ((X_des.shape[0] - 1) * mpc_time_step) - diff_delta + return U_des + + +@njit(cache=True, fastmath=True) +def calc_maximum_trajectory_error(traj: np.ndarray, X_des: np.ndarray) -> float: + """Calculate the maximum trajectory error. + + It calculates + * predicted trajectory produced by the MPC, + * the lateral error of the target trajectory + * the maximum value of the yaw error. + """ + err = 0.0 + for i in range(traj.shape[0]): + theta_des = X_des[i, 3] + diff_position = traj[i, 0:2] - X_des[i, 0:2] + lat_err = np.abs( + -np.sin(theta_des) * diff_position[0] + np.cos(theta_des) * diff_position[1] + ) + err = max(err, lat_err) + err = max(err, np.abs(theta_des - traj[i, 3])) + return err + + +@njit(cache=False, fastmath=True) +def transform_Q_R( + X_des: np.ndarray, U_des: np.ndarray, nominal_traj: np.ndarray, nominal_input: np.ndarray +) -> tuple: + """Calculate the MPC cost weight matrix from the current predicted trajectory and target trajectory. + + This calculates the information to add the constraints to the MPC cost. + """ + Q_total = np.zeros((X_des.shape[0], Q.shape[0], Q.shape[1])) + R_total = np.zeros((U_des.shape[0], R.shape[0], R.shape[1])) + acc_lim_weights = np.zeros(X_des.shape[0]) + acc_lim_center = np.zeros(X_des.shape[0]) + steer_lim_weights = np.zeros(X_des.shape[0]) + steer_lim_center = np.zeros(X_des.shape[0]) + acc_rate_lim_weights = np.zeros(U_des.shape[0]) + acc_rate_lim_center = np.zeros(U_des.shape[0]) + steer_rate_lim_weights = np.zeros(U_des.shape[0]) + steer_rate_lim_center = np.zeros(U_des.shape[0]) + for i in range(X_des.shape[0]): + if i == X_des.shape[0] - 1: + Q_ = Q_f.copy() + elif i in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + x_current = nominal_traj[i] + v = x_current[2] + acc = X_des[i, 4] + theta = X_des[i, 3] + + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + + lateral_error = np.abs((Rot.T @ (X_des[i, :2] - x_current[:2]))[1]) + yaw_error = np.abs(X_des[i, 3] - x_current[3]) + cost_tr_steer_rate_by_error = max( + min_tighten_steer_rate, + max( + (lateral_error / threshold_tighten_steer_rate_by_lateral_error) + ** power_tighten_steer_rate_by_lateral_error, + (yaw_error / threshold_tighten_steer_rate_by_yaw_error) + ** power_tighten_steer_rate_by_yaw_error, + ), + ) + cost_tr_steer_rate = 1 / ( + min( + max( + min_steer_rate_transform_for_start, + (coef_steer_rate_transform_for_start * np.abs(v)) + ** power_steer_rate_transform_for_start, + ), + 1.0, + ) + ) + if i >= tighten_horizon: + cost_tr_steer_rate = max(cost_tr_steer_rate, 1 / cost_tr_steer_rate_by_error) + if i in timing_Q_c or i == X_des.shape[0] - 1: + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Q_[1, 1] = lateral_cost_coef * Q_[1, 1] + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Q_[3, 3] = yaw_cost_coef * Q_[3, 3] + + Q_[:2, :2] = Rot @ Q_[:2, :2] @ Rot.T + Q_total[i] = Q_ + + steer_lim, steer_rate_lim_lb, steer_rate_lim_ub, acc_lim, acc_rate_lim = calc_limits( + v, x_current[4], x_current[5] + ) + + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = 0.0 + else: + if x_current[nx_0] > acc_lim: # acc inputs + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = acc_lim + elif x_current[nx_0] < -acc_lim: + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = -acc_lim + + if x_current[nx_0 + acc_ctrl_queue_size] > steer_lim: # steer inputs + steer_lim_weights[i] = steer_lim_weight + steer_lim_center[i] = steer_lim + elif x_current[nx_0 + acc_ctrl_queue_size] < -steer_lim: + steer_lim_weights[i] = steer_lim_weight + steer_lim_center[i] = -steer_lim + if i != X_des.shape[0] - 1: + R_ = R.copy() + if acc >= 0: + R_[1, 1] = cost_tr_steer_rate * R_[1, 1] + R_total[i] = R_ + + if nominal_input[i, 0] > acc_rate_lim: + acc_rate_lim_weights[i] = acc_rate_lim_weight + acc_rate_lim_center[i] = acc_rate_lim + elif nominal_input[i, 0] < -acc_rate_lim: + acc_rate_lim_weights[i] = acc_rate_lim_weight + acc_rate_lim_center[i] = -acc_rate_lim + + if nominal_input[i, 1] > steer_rate_lim_ub: + steer_rate_lim_weights[i] = steer_rate_lim_weight + steer_rate_lim_center[i] = steer_rate_lim_ub + elif nominal_input[i, 1] < steer_rate_lim_lb: + steer_rate_lim_weights[i] = steer_rate_lim_weight + steer_rate_lim_center[i] = steer_rate_lim_lb + + return ( + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + ) + + +@njit(cache=False, fastmath=True) +def calc_cost( + X_des: np.ndarray, U_des: np.ndarray, Traj: np.ndarray, Inputs: np.ndarray, n: int +) -> np.ndarray: + """Calculate the MPC cost of the nth horizon from several candidate predicted trajectories and target trajectories.""" + Cost = np.zeros(Traj.shape[0]) + if n == N: + Q_ = Q_f.copy() + elif n in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + acc = X_des[4] + theta = X_des[3] + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + for i in range(Traj.shape[0]): + x_current = Traj[i] + v = x_current[2] + + Qi = Q_.copy() + lateral_error = np.abs((Rot.T @ (X_des[:2] - x_current[:2]))[1]) + yaw_error = np.abs(X_des[3] - x_current[3]) + cost_tr_steer_rate_by_error = max( + min_tighten_steer_rate, + max( + (lateral_error / threshold_tighten_steer_rate_by_lateral_error) + ** power_tighten_steer_rate_by_lateral_error, + (yaw_error / threshold_tighten_steer_rate_by_yaw_error) + ** power_tighten_steer_rate_by_yaw_error, + ), + ) + cost_tr_steer_rate = 1 / ( + min( + max( + min_steer_rate_transform_for_start, + (coef_steer_rate_transform_for_start * np.abs(v)) + ** power_steer_rate_transform_for_start, + ), + 1.0, + ) + ) + if n >= tighten_horizon: + cost_tr_steer_rate = max(cost_tr_steer_rate, 1 / cost_tr_steer_rate_by_error) + if n in timing_Q_c or n == N: + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Qi[1, 1] = lateral_cost_coef * Qi[1, 1] + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Qi[3, 3] = yaw_cost_coef * Qi[3, 3] + Qi[:2, :2] = Rot @ Qi[:2, :2] @ Rot.T + Cost[i] += 0.5 * np.dot(Qi @ (x_current - X_des), x_current - X_des) + + steer_lim, steer_rate_lim_lb, steer_rate_lim_ub, acc_lim, acc_rate_lim = calc_limits( + v, x_current[4], x_current[5] + ) + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + Cost[i] += 0.5 * acc_lim_weight * (x_current[nx_0] - 0.0) * (x_current[nx_0] - 0.0) + + else: + if x_current[nx_0] > acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] - acc_lim) * (x_current[nx_0] - acc_lim) + ) + elif x_current[nx_0] < -acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] + acc_lim) * (x_current[nx_0] + acc_lim) + ) + + if x_current[nx_0 + 1] > steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] - steer_lim) + * (x_current[nx_0 + 1] - steer_lim) + ) + + elif x_current[nx_0 + 1] < -steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] + steer_lim) + * (x_current[nx_0 + 1] + steer_lim) + ) + + if n != N: + R_ = R.copy() + if acc >= 0: + R_[1, 1] = cost_tr_steer_rate * R_[1, 1] + + Cost[i] += 0.5 * np.dot(R_ @ (Inputs[i] - U_des), Inputs[i] - U_des) + + if Inputs[i, 0] > acc_rate_lim: + Cost[i] += ( + 0.5 + * acc_rate_lim_weight + * (Inputs[i, 0] - acc_rate_lim) + * (Inputs[i, 0] - acc_rate_lim) + ) + elif Inputs[i, 0] < -acc_rate_lim: + Cost[i] += ( + 0.5 + * acc_rate_lim_weight + * (Inputs[i, 0] + acc_rate_lim) + * (Inputs[i, 0] + acc_rate_lim) + ) + + if Inputs[i, 1] > steer_rate_lim_ub: + Cost[i] += ( + 0.5 + * steer_rate_lim_weight + * (Inputs[i, 1] - steer_rate_lim_ub) + * (Inputs[i, 1] - steer_rate_lim_ub) + ) + elif Inputs[i, 1] < steer_rate_lim_lb: + Cost[i] += ( + 0.5 + * steer_rate_lim_weight + * (Inputs[i, 1] - steer_rate_lim_lb) + * (Inputs[i, 1] - steer_rate_lim_lb) + ) + + return Cost + + +@njit(cache=False, fastmath=True) +def calc_cost_only_for_states(X_des: np.ndarray, Traj: np.ndarray, n: int) -> np.ndarray: + """Calculate the MPC cost for states of the nth horizon from several candidate predicted trajectories and target trajectories.""" + Cost = np.zeros(Traj.shape[0]) + if n == N: + Q_ = Q_f.copy() + elif n in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + theta = X_des[3] + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + for i in range(Traj.shape[0]): + x_current = Traj[i] + v = x_current[2] + + Qi = Q_.copy() + if n in timing_Q_c or n == N: + lateral_error = np.abs((Rot.T @ (X_des[:2] - x_current[:2]))[1]) + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Qi[1, 1] = lateral_cost_coef * Qi[1, 1] + yaw_error = np.abs(X_des[3] - x_current[3]) + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Qi[3, 3] = yaw_cost_coef * Qi[3, 3] + Qi[:2, :2] = Rot @ Qi[:2, :2] @ Rot.T + Cost[i] += 0.5 * np.dot(Qi @ (x_current - X_des), x_current - X_des) + + steer_lim, _, _, acc_lim, _ = calc_limits(v, x_current[4], x_current[5]) + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + Cost[i] += 0.5 * acc_lim_weight * (x_current[nx_0] - 0.0) * (x_current[nx_0] - 0.0) + + else: + if x_current[nx_0] > acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] - acc_lim) * (x_current[nx_0] - acc_lim) + ) + elif x_current[nx_0] < -acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] + acc_lim) * (x_current[nx_0] + acc_lim) + ) + + if x_current[nx_0 + 1] > steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] - steer_lim) + * (x_current[nx_0 + 1] - steer_lim) + ) + + elif x_current[nx_0 + 1] < -steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] + steer_lim) + * (x_current[nx_0 + 1] + steer_lim) + ) + + return Cost + + +def rotate_data(x_old: np.ndarray, var_dot: np.ndarray) -> np.ndarray: + """Apply a rotation that converts the x, y velocity relative to the world to the x, y velocity relative to the vehicle body.""" + theta_old = x_old[3] + cos = np.cos(theta_old) + sin = np.sin(theta_old) + + var_dot_ = var_dot.copy() + var_dot_[:2] = np.array([[cos, sin], [-sin, cos]]) @ var_dot[:2] + + return var_dot_ + + +@njit(cache=True, fastmath=True) +def f_init( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Time derivative of nominal model dynamics.""" + v = states[2] + theta = states[3] + alpha = states[4] + delta = states[5] + + delta_diff = inputs[1] - delta + if delta_diff >= steer_dead_band_for_ctrl: + delta_diff = delta_diff - steer_dead_band_for_ctrl + elif delta_diff <= -steer_dead_band_for_ctrl: + delta_diff = delta_diff + steer_dead_band_for_ctrl + else: + delta_diff = 0.0 + + states_dot = np.zeros(nx_0) + states_dot[0] = v * np.cos(theta) + states_dot[1] = v * np.sin(theta) + states_dot[2] = alpha + states_dot[3] = v * np.tan(delta) / L + states_dot[4] = (inputs[0] - alpha) / acc_time_constant_ctrl + states_dot[5] = delta_diff / steer_time_constant_ctrl + return states_dot + + +@njit(cache=True, fastmath=True) +def F_init( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Nominal model dynamics.""" + states_next = ( + states + + f_init( + states, + inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + return states_next + + +@njit(cache=True, fastmath=True) +def F_multiple( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Discretize and integrate up to the MPC time width according to the nominal model dynamics.""" + states_next = states + for i in range(mpc_freq): + states_next = F_init( + states_next, + inputs[i], + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + return states_next + + +@njit(cache=True, fastmath=True) +def F_init_with_diff( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Compute the dynamics of the nominal model while computing derivatives.""" + states_next = ( + states + + f_init( + states, + inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + dF_dx = np.eye(nx_0) + dF_du = np.zeros((nx_0, nu_0)) + v = states[2] + theta = states[3] + delta = states[5] + + dF_dx[0, 2] += np.cos(theta) * ctrl_time_step + dF_dx[0, 3] -= v * np.sin(theta) * ctrl_time_step + dF_dx[1, 2] += np.sin(theta) * ctrl_time_step + dF_dx[1, 3] += v * np.cos(theta) * ctrl_time_step + dF_dx[2, 4] += ctrl_time_step + dF_dx[3, 2] += np.tan(delta) * ctrl_time_step / L + dF_dx[3, 5] += v * ctrl_time_step / (L * np.cos(delta) * np.cos(delta)) + dF_dx[4, 4] -= ctrl_time_step / acc_time_constant_ctrl + + dF_du[4, 0] = ctrl_time_step / acc_time_constant_ctrl + if abs(inputs[1] - delta) >= steer_dead_band_for_ctrl: + dF_dx[5, 5] -= ctrl_time_step / steer_time_constant_ctrl + dF_du[5, 1] = ctrl_time_step / steer_time_constant_ctrl + return states_next, dF_dx, dF_du + + +@njit(cache=True, fastmath=True) +def F_multiple_with_diff( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = ctrl_time_step, + steer_time_constant_ctrl: float = ctrl_time_step, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Integrate up to the MPC time width according to the nominal model while calculating the derivative.""" + F_0, dFx_0, dFu_0 = F_init_with_diff( + states, + inputs[0], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + F_1, dFx_1, dFu_1 = F_init_with_diff( + F_0, + inputs[1], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + F_2, dFx_2, dFu_2 = F_init_with_diff( + F_1, + inputs[2], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + dF_dx = dFx_2 @ dFx_1 @ dFx_0 + + dF_du = np.zeros((nx_0, 3 * nu_0)) + dF_du[:, :nu_0] = dFx_2 @ dFx_1 @ dFu_0 + dF_du[:, nu_0 : 2 * nu_0] = dFx_2 @ dFu_1 + dF_du[:, 2 * nu_0 : 3 * nu_0] = dFu_2 + return F_2, dF_dx, dF_du + + +@njit(cache=True, fastmath=True) +def f_init_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Time derivative of nominal model dynamics for multiple candidates.""" + v = States[:, 2] + theta = States[:, 3] + alpha = States[:, 4] + delta = States[:, 5] + smaller_than_band = Inputs[:, 1] - delta < steer_dead_band_for_ctrl + larger_than_band = Inputs[:, 1] - delta > -steer_dead_band_for_ctrl + + delta_diff = (1 - smaller_than_band * larger_than_band) * ( + (Inputs[:, 1] - delta) + - (1 * larger_than_band - 1 * smaller_than_band) * steer_dead_band_for_ctrl + ) + States_dot = np.zeros(States.shape) + States_dot[:, 0] = v * np.cos(theta) + States_dot[:, 1] = v * np.sin(theta) + States_dot[:, 2] = alpha + States_dot[:, 3] = v * np.tan(delta) / L + States_dot[:, 4] = (Inputs[:, 0] - alpha) / acc_time_constant_ctrl + States_dot[:, 5] = delta_diff / steer_time_constant_ctrl + return States_dot + + +@njit(cache=True, fastmath=True) +def F_multiple_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Discretize and integrate up to the MPC time width according to the nominal model dynamics for several candidates.""" + # Euler method + States_next = States.copy() + for i in range(mpc_freq): + States_next = ( + States_next + + f_init_for_candidates( + States_next, + Inputs[:, i, :], + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + return States_next + + +@njit(cache=True, fastmath=True) +def F_with_history( + states: np.ndarray, + inputs: np.ndarray, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Integrate up to the MPC time width according to the nominal model. + + This includes the history of the input to the state. + """ + # Function from extended state + states_next = np.zeros(states.shape) + states_next[nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = states[ + nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + states_next[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size + ] = states[ + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq + ].copy() + for k in range(mpc_freq): + states_next[nx_0 + mpc_freq - k - 1] = ( + states_next[nx_0 + mpc_freq - k] + ctrl_time_step * inputs[0] + ) + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k] + ctrl_time_step * inputs[1] + ) + + actual_inputs = np.zeros((mpc_freq, inputs.shape[0])) + actual_inputs[:, 0] = states_next[nx_0 + i + np.arange(mpc_freq)[::-1]] + actual_inputs[:, 1] = states_next[nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1]] + + states_next[:nx_0] = F_multiple( + states[:nx_0], + actual_inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + + return states_next + + +def F_with_history_and_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: None = None, + init: None = None, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, None]: + """While computing the derivative, integrate up to the MPC time width according to the nominal model. + + This includes the history of the input to the state. + """ + nx = states.shape[0] + states_next = np.zeros(nx) + dF_dx = np.zeros((nx, nx)) + dF_du = np.zeros((nx, nu_0)) + + states_next[nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = states[ + nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + states_next[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size + ] = states[ + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq + ].copy() + + dF_dx[ + nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size, nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ] = np.eye(acc_ctrl_queue_size - mpc_freq) + dF_dx[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size, + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq, + ] = np.eye(steer_ctrl_queue_size - mpc_freq) + + for k in range(mpc_freq): + states_next[nx_0 + mpc_freq - k - 1] = ( + states_next[nx_0 + mpc_freq - k] + ctrl_time_step * inputs[0] + ) + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k] + ctrl_time_step * inputs[1] + ) + dF_dx[nx_0 + mpc_freq - k - 1, nx_0] = 1 + dF_dx[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1, nx_0 + acc_ctrl_queue_size] = 1 + + dF_du[nx_0 + mpc_freq - k - 1, 0] = (k + 1) * ctrl_time_step + dF_du[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1, 1] = (k + 1) * ctrl_time_step + + actual_inputs = np.zeros((mpc_freq, inputs.shape[0])) + actual_inputs[:, 0] = states_next[nx_0 + i + np.arange(mpc_freq)[::-1]].copy() + + actual_inputs[:, 1] = states_next[ + nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1] + ].copy() + control_index = np.vstack( + ( + nx_0 + max(i - mpc_freq, 0) + np.arange(mpc_freq)[::-1], + nx_0 + acc_ctrl_queue_size + max(j - mpc_freq, 0) + np.arange(mpc_freq)[::-1], + ) + ).T.flatten() + states_next[:nx_0], dF_dx[:nx_0, :nx_0], dF_dx[:nx_0, control_index] = F_multiple_with_diff( + states[:nx_0], actual_inputs, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + + return states_next, dF_dx, dF_du, None + + +@njit(cache=True, fastmath=True) +def F_with_history_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + Previous_error=None, + init=None, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, None]: + """For several candidates, discretize and integrate up to the MPC time-width according to the nominal model dynamics. + + This includes the history of the input to the state. + """ + States_next = np.zeros(States.shape) + + States_next[:, nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = States[ + :, nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + States_next[ + :, + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size, + ] = States[ + :, + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq, + ].copy() + for k in range(mpc_freq): + States_next[:, nx_0 + mpc_freq - k - 1] = ( + States_next[:, nx_0 + mpc_freq - k] + ctrl_time_step * Inputs[:, 0] + ) + States_next[:, nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + States_next[:, nx_0 + acc_ctrl_queue_size + mpc_freq - k] + + ctrl_time_step * Inputs[:, 1] + ) + actual_Inputs = np.zeros((Inputs.shape[0], mpc_freq, nu_0)) + + actual_Inputs[:, :, 0] = States_next[:, nx_0 + i + np.arange(mpc_freq)[::-1]].copy() + actual_Inputs[:, :, 1] = States_next[ + :, nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1] + ].copy() + States_next[:, :nx_0] = F_multiple_for_candidates( + States[:, :nx_0], actual_Inputs, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + return States_next, None + + +def F_with_model_initial_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: np.ndarray, + k: int, + pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """While computing the derivative, integrate up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + The derivative follows the nominal model. + This verifies whether the learning is working on the predictions or on the derivatives. + """ + if k == 0: + error = error_decay * previous_error + (1 - error_decay) * pred(states) + else: + error = error_decay * error_decay * error_decay * previous_error + ( + 1 - error_decay * error_decay * error_decay + ) * pred(states) + previous_error_ = error + + rot_error, d_rot_error = np.split(error, [nx_0]) + states_next, dF_dx, dF_du, _ = F_with_history_and_diff( + states, + inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + + dF_dx[:2, 3] += d_rot_error * mpc_time_step + states_next[:nx_0] += rot_error * mpc_time_step + + return states_next, dF_dx, dF_du, previous_error_ + + +def F_with_model_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: np.ndarray, + k: int, + pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """While computing the derivative, it integrates up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + The derivatives also follow a trained model. + """ + pred_with_diff = pred(states) + + if k == 0: + rot_error = ( + error_decay[:nx_0] * previous_error[:nx_0] + + (1 - error_decay[:nx_0]) * pred_with_diff[:, 0] + ) + d_rot_error = ( + error_decay[nx_0:] * previous_error[nx_0:] + + (1 - error_decay[nx_0:]) * pred_with_diff[:2, 1] + ) + else: + rot_error = ( + error_decay[:nx_0] * error_decay[:nx_0] * error_decay[:nx_0] * previous_error[:nx_0] + + (1 - error_decay[:nx_0] * error_decay[:nx_0] * error_decay[:nx_0]) + * pred_with_diff[:, 0] + ) + d_rot_error = ( + error_decay[nx_0:] * error_decay[nx_0:] * error_decay[nx_0:] * previous_error[nx_0:] + + (1 - error_decay[nx_0:] * error_decay[nx_0:] * error_decay[nx_0:]) + * pred_with_diff[:2, 1] + ) + pred_error_ = np.concatenate((rot_error, d_rot_error)) + states_next, dF_dx, dF_du, _ = F_with_history_and_diff( + states, + inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + + dF_dx[:2, 3] += d_rot_error * mpc_time_step + states_next[:nx_0] += rot_error * mpc_time_step + return states_next, dF_dx, dF_du, pred_with_diff[:, 2:] * mpc_time_step, pred_error_ + + +def F_with_model_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + Previous_error: np.ndarray, + k: int, + Pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray]: + """For several candidates, integrate up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + """ + if k == 0: + Error = Error_decay * Previous_error + (1 - Error_decay) * Pred(States.T).T + else: + Error = ( + Error_decay * Error_decay * Error_decay * Previous_error + + (1 - Error_decay * Error_decay * Error_decay) * Pred(States.T).T + ) + Previous_error_ = Error + + States_next, _ = F_with_history_for_candidates( + States, + Inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + States_next[:, :nx_0] += Error * mpc_time_step + + return States_next, Previous_error_ + + +def sg_filter( + inputs: np.ndarray, + use_sg: bool, + sg_window_size: int, + sg_vector_left_edge: list[np.ndarray], + sg_vector_right_edge: list[np.ndarray], + sg_vector: np.ndarray, +) -> np.ndarray: + """SG Filter. Used for smoothing.""" + if use_sg: + input_len = inputs.shape[0] + filtered_inputs = np.zeros(inputs.shape) + for i in range(input_len): + if i < sg_window_size: + filtered_inputs[i] = ( + (inputs[: sg_window_size + i + 1].T * sg_vector_left_edge[i]) + .sum(axis=inputs.ndim - 1) + .T + ) + elif i > input_len - sg_window_size - 1: + filtered_inputs[i] = ( + (inputs[i - sg_window_size :].T * sg_vector_right_edge[input_len - i - 1]) + .sum(axis=inputs.ndim - 1) + .T + ) + else: + filtered_inputs[i] = ( + (inputs[i - sg_window_size : i + sg_window_size + 1].T * sg_vector) + .sum(axis=inputs.ndim - 1) + .T + ) + return filtered_inputs + else: + return inputs + + +def calc_sg_filter_weight(sg_deg, sg_window_size): + """Calculate weighted average weights from SG filter degree and window size.""" + sg_vector_left_edge = [] + sg_vector_right_edge = [] + e_0 = np.zeros(sg_deg + 1) + e_0[0] = 1.0 + for i in range(sg_window_size): + reg_times = (np.arange(sg_window_size + i + 1) - i) * mpc_time_step + T = np.ones((sg_window_size + i + 1, sg_deg + 1)) + W = np.eye(T.shape[0]) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector_left_edge.append(W @ T @ np.linalg.inv(T.T @ W @ T) @ e_0) + reg_times = (np.arange(sg_window_size + i + 1) - sg_window_size) * mpc_time_step + T = np.ones((sg_window_size + i + 1, sg_deg + 1)) + W = np.eye(T.shape[0]) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector_right_edge.append(W @ T @ np.linalg.inv(T.T @ W @ T) @ e_0) + reg_times = (np.arange(2 * sg_window_size + 1) - sg_window_size) * mpc_time_step + T = np.ones((2 * sg_window_size + 1, sg_deg + 1)) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector = T @ np.linalg.inv(T.T @ T) @ e_0 + return sg_vector, sg_vector_left_edge, sg_vector_right_edge + + +( + sg_vector_for_nominal_inputs, + sg_vector_left_edge_for_nominal_inputs, + sg_vector_right_edge_for_nominal_inputs, +) = calc_sg_filter_weight(sg_deg_for_nominal_inputs, sg_window_size_for_nominal_inputs) +( + sg_vector_for_trained_model_diff, + sg_vector_left_edge_for_trained_model_diff, + sg_vector_right_edge_for_trained_model_diff, +) = calc_sg_filter_weight(sg_deg_for_trained_model_diff, sg_window_size_for_trained_model_diff) +( + sg_vector_for_noise, + sg_vector_left_edge_for_noise, + sg_vector_right_edge_for_noise, +) = calc_sg_filter_weight(sg_deg_for_noise, sg_window_size_for_noise) + +sg_filter_for_nominal_inputs = partial( + sg_filter, + use_sg=use_sg_for_nominal_inputs, + sg_window_size=sg_window_size_for_nominal_inputs, + sg_vector_left_edge=sg_vector_left_edge_for_nominal_inputs, + sg_vector_right_edge=sg_vector_right_edge_for_nominal_inputs, + sg_vector=sg_vector_for_nominal_inputs, +) + +sg_filter_for_trained_model_diff = partial( + sg_filter, + use_sg=use_sg_for_trained_model_diff, + sg_window_size=sg_window_size_for_trained_model_diff, + sg_vector_left_edge=sg_vector_left_edge_for_trained_model_diff, + sg_vector_right_edge=sg_vector_right_edge_for_trained_model_diff, + sg_vector=sg_vector_for_trained_model_diff, +) + +sg_filter_for_noise = partial( + sg_filter, + use_sg=use_sg_for_noise, + sg_window_size=sg_window_size_for_noise, + sg_vector_left_edge=sg_vector_left_edge_for_noise, + sg_vector_right_edge=sg_vector_right_edge_for_noise, + sg_vector=sg_vector_for_noise, +) + + +def calc_gf_kernel(sigma): + """Calculate the kernel of the Gaussian filter from the variance.""" + kernel = np.zeros(int(round(4 * sigma)) * 2 + 1) + for i in range(kernel.shape[0]): + kernel[i] = np.exp(-((i - round(4 * sigma)) ** 2) / (2 * sigma**2)) + + kernel = kernel / kernel.sum() + return kernel + + +kernel_acc_for_learning = calc_gf_kernel(acc_sigma_for_learning) +kernel_steer_for_learning = calc_gf_kernel(steer_sigma_for_learning) +kernel_acc_des_for_learning = calc_gf_kernel(acc_des_sigma_for_learning) +kernel_steer_des_for_learning = calc_gf_kernel(steer_des_sigma_for_learning) + +max_input_queue_size_for_learning = max( + [ + kernel_acc_for_learning.shape[0], + kernel_steer_for_learning.shape[0], + kernel_acc_des_for_learning.shape[0], + kernel_steer_des_for_learning.shape[0], + ] +) + +kernel_x_out_for_learning = calc_gf_kernel(x_out_sigma_for_learning) +kernel_y_out_for_learning = calc_gf_kernel(y_out_sigma_for_learning) +kernel_v_out_for_learning = calc_gf_kernel(v_out_sigma_for_learning) +kernel_theta_out_for_learning = calc_gf_kernel(theta_out_sigma_for_learning) +kernel_acc_out_for_learning = calc_gf_kernel(acc_out_sigma_for_learning) +kernel_steer_out_for_learning = calc_gf_kernel(steer_out_sigma_for_learning) + +max_output_queue_size_for_learning = max( + [ + kernel_x_out_for_learning.shape[0], + kernel_y_out_for_learning.shape[0], + kernel_v_out_for_learning.shape[0], + kernel_theta_out_for_learning.shape[0], + kernel_acc_out_for_learning.shape[0], + kernel_steer_out_for_learning.shape[0], + ] +) + + +def u_cut_off( + u_input: np.ndarray, + u_old: np.ndarray, + steer_lim: float, + steer_rate_lim_lb: float, + steer_rate_lim_ub: float, + acc_lim: float, + acc_rate_lim: float, +) -> np.ndarray: + """Process input values to satisfy constraints.""" + u_input_ = u_input.copy() + lb_0 = max(-acc_lim, u_old[0] - acc_rate_lim * ctrl_time_step) + ub_0 = min(acc_lim, u_old[0] + acc_rate_lim * ctrl_time_step) + lb_1 = max(-steer_lim, u_old[1] + steer_rate_lim_lb * ctrl_time_step) + ub_1 = min(steer_lim, u_old[1] + steer_rate_lim_ub * ctrl_time_step) + if u_input[0] >= ub_0: + u_input_[0] = ub_0 + elif u_input[0] < lb_0: + u_input_[0] = lb_0 + if u_input[1] >= ub_1: + u_input_[1] = ub_1 + elif u_input[1] < lb_1: + u_input_[1] = lb_1 + return u_input_ diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py new file mode 100644 index 0000000000000..261a72e680778 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py @@ -0,0 +1,644 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath Riccati Jacobians + +"""Optimize input based on iLQR.""" + + +from importlib import reload as ir +import time +from typing import Callable + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +index_cost = np.concatenate( + ( + np.arange(drive_functions.nx_0 + 1), + np.array([drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size]), + ) +) +acc_index = drive_functions.nx_0 +steer_index = drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size +actual_control_index = np.arange( + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size_core +) +actual_state_dim = drive_functions.nx_0 +input_dim = drive_functions.nu_0 +mpc_freq = drive_functions.mpc_freq +acc_delay_step = drive_functions.acc_delay_step +steer_delay_step = drive_functions.steer_delay_step +acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size +steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size +ctrl_time_step = drive_functions.ctrl_time_step + + +@njit(cache=True, fastmath=True) +def sparse_right_action_for_state_diff( + Mat: np.ndarray, + A: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix `A₀` and computes `Mat @ A₀`. + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros( + (Mat.shape[0], actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size) + ) + result[:, actual_control_index] += Mat[:, :actual_state_dim] @ A + + result[:, actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += Mat[ + :, actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + :, + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq, + ] += Mat[ + :, + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size, + ] + for i in range(mpc_freq): + result[:, actual_state_dim] += Mat[:, actual_state_dim + i] + result[:, actual_state_dim + acc_ctrl_queue_size] += Mat[ + :, actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def sparse_left_action_for_state_diff( + A: np.ndarray, + Mat: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix A₀ and computes A₀.T @ Mat . + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros( + (actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size, Mat.shape[1]) + ) + result[actual_control_index] += A.T @ Mat[:actual_state_dim] + + result[actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += Mat[ + actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq + ] += Mat[ + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + ] + for i in range(mpc_freq): + result[actual_state_dim] += Mat[actual_state_dim + i] + result[actual_state_dim + acc_ctrl_queue_size] += Mat[ + actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def vector_sparse_left_action_for_state_diff( + A: np.ndarray, + vec: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix A₀ and computes A₀.T @ vec. + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros(actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size) + result[actual_control_index] += A.T @ vec[:actual_state_dim] + + result[actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += vec[ + actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq + ] += vec[ + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + ] + for i in range(mpc_freq): + result[actual_state_dim] += vec[actual_state_dim + i] + result[actual_state_dim + acc_ctrl_queue_size] += vec[ + actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def sparse_right_action_for_input_diff( + Mat: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute Mat @ B for some sparse matrix B known a priori.""" + result = np.zeros((Mat.shape[0], input_dim)) + for i in range(mpc_freq): + result[:, 0] += (mpc_freq - i) * ctrl_time_step * Mat[:, actual_state_dim + i] + result[:, 1] += ( + (mpc_freq - i) * ctrl_time_step * Mat[:, actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=True, fastmath=True) +def sparse_left_action_for_input_diff( + Mat: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute B.T @ Mat for some sparse matrix B known a priori.""" + result = np.zeros((input_dim, Mat.shape[1])) + for i in range(mpc_freq): + result[0] += (mpc_freq - i) * ctrl_time_step * Mat[actual_state_dim + i] + result[1] += ( + (mpc_freq - i) * ctrl_time_step * Mat[actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=True, fastmath=True) +def vector_sparse_left_action_for_input_diff( + vec: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute B.T @ vec for some sparse matrix B known a priori.""" + result = np.zeros(input_dim) + for i in range(mpc_freq): + result[0] += (mpc_freq - i) * ctrl_time_step * vec[actual_state_dim + i] + result[1] += ( + (mpc_freq - i) * ctrl_time_step * vec[actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=False, fastmath=True) +def compute_iLQR_coef( + traj, + inputs, + A, + B, + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + N, + nx, + nu, + X_des, + U_des, + Sigma_x=None, + dSigma_x=None, + Sigma_y=None, + dSigma_y=None, + Sigma_v=None, + dSigma_v=None, + Sigma_theta=None, + dSigma_theta=None, + Sigma_acc=None, + dSigma_acc=None, + Sigma_steer=None, + dSigma_steer=None, + index_cost=index_cost, + acc_index=acc_index, + steer_index=steer_index, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, +): + """Perform the main part of iLQR. + + Performs a Riccati recursion and returns the coefficients needed for the final output. + """ + P = np.zeros((N + 1, nx, nx)) + w = np.zeros((N + 1, nx)) + H_inv_G = np.zeros((N, nu, nx)) + H_inv_g = np.zeros((N, nu)) + P[N][:7, :7] = Q_total[-1][:7, :7] + P[N][steer_index, steer_index] = Q_total[-1][7, 7] + + P[N][acc_index, acc_index] += acc_lim_weights[N] + P[N][steer_index, steer_index] += steer_lim_weights[N] + + w[N][index_cost] = Q_total[-1] @ (traj[N] - X_des[N]) + w[N, acc_index] += acc_lim_weights[N] * (traj[N, acc_index] - acc_lim_center[N]) + w[N, steer_index] += steer_lim_weights[N] * (traj[N, acc_index + 1] - steer_lim_center[N]) + + for i in range(N): + j = N - i - 1 + Qj = Q_total[j] + Rj = R_total[j] + Aj = A[j] + Pj1Aj = sparse_right_action_for_state_diff( + P[j + 1], Aj[:actual_state_dim, actual_control_index] + ) + G = sparse_left_action_for_input_diff(Pj1Aj) + + H = sparse_left_action_for_input_diff(sparse_right_action_for_input_diff(P[j + 1])) + Rj + H[0, 0] += acc_rate_lim_weights[j] + H[1, 1] += steer_rate_lim_weights[j] + + g_ = vector_sparse_left_action_for_input_diff(w[j + 1]) + Rj @ (inputs[j] - U_des[j]) + g_[0] += acc_rate_lim_weights[j] * (inputs[j, 0] - acc_rate_lim_center[j]) + g_[1] += steer_rate_lim_weights[j] * (inputs[j, 1] - steer_rate_lim_center[j]) + + one_over_det = 1 / (H[0, 0] * H[1, 1] - H[1, 0] * H[1, 0]) + + H_inv = one_over_det * np.array([[H[1, 1], -H[1, 0]], [-H[1, 0], H[0, 0]]]) + + H_inv_G[j] = H_inv @ G + H_inv_g[j] = H_inv @ g_ + + P[j] = ( + sparse_left_action_for_state_diff(Aj[:actual_state_dim, actual_control_index], Pj1Aj) + - G.T @ H_inv_G[j] + ) + P[j][:7, :7] += Qj[:7, :7] + P[j][steer_index, steer_index] += Qj[7, 7] + + P[j][acc_index, acc_index] += acc_lim_weights[j] + P[j][steer_index, steer_index] += steer_lim_weights[j] + + w[j] = ( + vector_sparse_left_action_for_state_diff( + Aj[:actual_state_dim, actual_control_index], w[j + 1] + ) + - H_inv_G[j].T @ g_ + ) + + w[j, index_cost] += Qj @ (traj[j] - X_des[j]) + w[j, acc_index] += acc_lim_weights[j] * (traj[j, acc_index] - acc_lim_center[j]) + w[j, steer_index] += steer_lim_weights[j] * (traj[j, acc_index + 1] - steer_lim_center[j]) + P_noise = np.zeros((nx, nx)) + w_noise = np.zeros(nx) + if Sigma_x is not None: + sigma_x = Sigma_x[j] + d_sigma_x = dSigma_x[j] + vec_part = P[j][0, 0] * d_sigma_x + P_noise += d_sigma_x.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_x * vec_part + if Sigma_y is not None: + sigma_y = Sigma_y[j] + d_sigma_y = dSigma_y[j] + vec_part = P[j][1, 1] * d_sigma_y + P_noise += d_sigma_y.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_y * vec_part + if Sigma_v is not None: + sigma_v = Sigma_v[j] + d_sigma_v = dSigma_v[j] + vec_part = P[j][2, 2] * d_sigma_v + P_noise += d_sigma_v.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_v * vec_part + if Sigma_theta is not None: + sigma_theta = Sigma_theta[j] + d_sigma_theta = dSigma_theta[j] + vec_part = P[j][3, 3] * d_sigma_theta + P_noise += d_sigma_theta.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_theta * vec_part + if Sigma_acc is not None: + sigma_acc = Sigma_acc[j] + d_sigma_acc = dSigma_acc[j] + vec_part = P[j][4, 4] * d_sigma_acc + P_noise += d_sigma_acc.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_acc * vec_part + if Sigma_steer is not None: + sigma_steer = Sigma_steer[j] + d_sigma_steer = dSigma_steer[j] + vec_part = P[j][5, 5] * d_sigma_steer + P_noise += d_sigma_steer.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_steer * vec_part + + P[j] += P_noise + w[j] += w_noise + return P, w, H_inv_G, H_inv_g + + +@njit(cache=True, fastmath=True) +def calc_line_search_candidates(A, B, H_inv_g, H_inv_G, inputs, ls): + """Compute the candidate input columns for the line search in the final stage of iLQR.""" + ls_num = ls.shape[0] + nx = A.shape[2] + nu = B.shape[2] + N = A.shape[0] + + Inputs = np.zeros((ls_num, N, nu)) + delta_x_k = np.zeros((ls_num, nx)) + for k in range(N): + delta_u_k = -ls.reshape(-1, 1) @ H_inv_g[k].reshape(1, -1) - delta_x_k @ H_inv_G[k].T + Inputs[:, k, :] = inputs[k] + delta_u_k + delta_x_k = delta_x_k @ A[k].T + delta_u_k @ B[k].T + return Inputs + + +class drive_iLQR: + """Class that runs iLQR to compute optimal input values.""" + + ls_step: float + """ Line search step width """ + + max_iter_ls: int + """ Number of candidates for line search. """ + + max_iter_ilqr: int + """ Maximum number of iLQR iterations """ + + ilqr_tol: float + """ Tolerance to terminate iLQR iterations """ + + use_trained_model_diff: bool + """ Whether to use the derivative of the trained model """ + + def __init__( + self, + ls_step, + max_iter_ls, + max_iter_ilqr, + ilqr_tol, + use_trained_model_diff, + ): + ir(drive_functions) + self.ls_step = ls_step + self.max_iter_ls = max_iter_ls + self.max_iter_ilqr = max_iter_ilqr + self.ilqr_tol = ilqr_tol + self.use_trained_model_diff = use_trained_model_diff + + ls = np.ones(max_iter_ls + 1) + for i in range(max_iter_ls - 1): + ls[i + 1] = ls_step * ls[i] + ls[-1] = 0.0 + self.ls = ls + + def calc_forward_trajectories_with_cost( + self, + x_current: np.ndarray, + Inputs: np.ndarray, + X_des: np.ndarray, + U_des: np.ndarray, + previous_error: np.ndarray, + ) -> tuple[np.ndarray, np.ndarray]: + """Calculate the predicted trajectory and cost. + + Given the current state and the candidate input columns in the line search. + """ + N = Inputs.shape[1] + samples = Inputs.shape[0] + Traj = np.zeros((samples, N + 1, x_current.shape[0])) + Traj[:, 0, :] += x_current + Cost = np.zeros(samples) + + Previous_error = np.tile(previous_error[:6], (samples, 1)) + for k in range(N): + Cost += drive_functions.calc_cost( + X_des[k], + U_des[k], + Traj[:, k, index_cost], + Inputs[:, k, :], + k, + ) + Traj[:, k + 1], Previous_error = self.F_for_candidates( + Traj[:, k], Inputs[:, k], Previous_error, k + ) + Cost += drive_functions.calc_cost( + X_des[N], + U_des[N - 1], + Traj[:, N, index_cost], + Inputs[:, N - 1, :], + N, + ) + return Traj, Cost + + def calc_forward_trajectory_with_diff( + self, x_current: np.ndarray, inputs: np.ndarray, previous_error: np.ndarray + ) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Calculate the derivatives (Jacobians) of the predicted trajectory t with diff. + + This also calculates "the function that returns the predicted trajectory from the current state and the input sequence", + given the current state and the input sequence. + """ + N = inputs.shape[0] + nx = x_current.shape[0] + nu = inputs.shape[1] + traj = np.zeros((N + 1, nx)) + traj[0] = x_current + A = np.zeros((N, nx, nx)) + B = np.zeros((N, nx, nu)) + C = np.zeros((N, 6, nx)) + previous_error_ = previous_error.copy() + for k in range(N): + if self.use_trained_model_diff: + traj[k + 1], A[k], B[k], C[k], previous_error_ = self.F_with_diff( + traj[k], inputs[k], previous_error_, k + ) + else: + traj[k + 1], A[k], B[k], previous_error_ = self.F_with_initial_diff( + traj[k], inputs[k], previous_error_, k + ) + if self.use_trained_model_diff: + A[:, :6] += drive_functions.sg_filter_for_trained_model_diff(C) + return traj, A, B + + def compute_optimal_control( + self, + x_current: np.ndarray, + inputs: np.ndarray, + X_des: np.ndarray, + U_des: np.ndarray, + previous_error: np.ndarray, + x_noise: Callable | None, + y_noise: Callable | None, + v_noise: Callable | None, + theta_noise: Callable | None, + acc_noise: Callable | None, + steer_noise: Callable | None, + ) -> tuple[np.ndarray, np.ndarray, np.ndarray, bool]: + """Calculate the optimal predictive trajectory and the input sequence at that time. + + It also determines whether the tolerance has been reached and returns whether the optimization should continue or not. + Performs one iteration of iLQR. + """ + nx = x_current.shape[0] + nu = inputs.shape[1] + N = inputs.shape[0] + self.time_1 = time.time() + traj, A, B = self.calc_forward_trajectory_with_diff(x_current, inputs, previous_error) + ( + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + ) = drive_functions.transform_Q_R(X_des, U_des, traj, inputs) + self.time_2 = time.time() + if x_noise is None: + Sigma_x = None + dSigma_x = None + else: + Sigma_x, dSigma_x = x_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_x = drive_functions.sg_filter_for_noise(Sigma_x) + dSigma_x = drive_functions.sg_filter_for_noise(dSigma_x) + if y_noise is None: + Sigma_y = None + dSigma_y = None + else: + Sigma_y, dSigma_y = y_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_y = drive_functions.sg_filter_for_noise(Sigma_y) + dSigma_y = drive_functions.sg_filter_for_noise(dSigma_y) + if v_noise is None: + Sigma_v = None + dSigma_v = None + else: + Sigma_v, dSigma_v = v_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_v = drive_functions.sg_filter_for_noise(Sigma_v) + dSigma_v = drive_functions.sg_filter_for_noise(dSigma_v) + if theta_noise is None: + Sigma_theta = None + dSigma_theta = None + else: + Sigma_theta, dSigma_theta = theta_noise( + np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:])) + ) + Sigma_theta = drive_functions.sg_filter_for_noise(Sigma_theta) + dSigma_theta = drive_functions.sg_filter_for_noise(dSigma_theta) + if acc_noise is None: + Sigma_acc = None + dSigma_acc = None + else: + Sigma_acc, dSigma_acc = acc_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_acc = drive_functions.sg_filter_for_noise(Sigma_acc) + dSigma_acc = drive_functions.sg_filter_for_noise(dSigma_acc) + + if steer_noise is None: + Sigma_steer = None + dSigma_steer = None + else: + Sigma_steer, dSigma_steer = steer_noise( + np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:])) + ) + Sigma_steer = drive_functions.sg_filter_for_noise(Sigma_steer) + dSigma_steer = drive_functions.sg_filter_for_noise(dSigma_steer) + P, w, H_inv_G, H_inv_g = compute_iLQR_coef( + traj[:, index_cost], + inputs, + A, + B, + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + N, + nx, + nu, + X_des, + U_des, + Sigma_x, + dSigma_x, + Sigma_y, + dSigma_y, + Sigma_v, + dSigma_v, + Sigma_theta, + dSigma_theta, + Sigma_acc, + dSigma_acc, + Sigma_steer, + dSigma_steer, + ) + self.time_3 = time.time() + # start line search + Inputs = calc_line_search_candidates(A, B, H_inv_g, H_inv_G, inputs, self.ls) + self.time_4 = time.time() + Traj, Cost = self.calc_forward_trajectories_with_cost( + x_current, Inputs, X_des, U_des, previous_error + ) + best_index = Cost.argmin() + self.time_5 = time.time() + + if Cost[best_index] < (1 - self.ilqr_tol) * Cost[-1]: + proceed = True + else: + proceed = False + + best_traj = Traj[best_index] + best_inputs = Inputs[best_index] + return best_inputs, best_inputs[0], best_traj, proceed + + def receive_model( + self, F_with_initial_diff: Callable, F_with_diff: Callable, F_for_candidates: Callable + ): + """Receive vehicle model for control.""" + self.F_with_initial_diff = F_with_initial_diff + self.F_with_diff = F_with_diff + self.F_for_candidates = F_for_candidates diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py new file mode 100644 index 0000000000000..ca6e6f15f42ef --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py @@ -0,0 +1,170 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath + +from typing import Callable + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +index_cost = np.concatenate( + ( + np.arange(drive_functions.nx_0 + 1), + [drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size], + ) +) + + +@njit(cache=False, fastmath=True) +def generate_input_perturbation(N, sample_num, step, Sigma_0, Sigma_1): + """Generate random perturbations of the input in MPPI.""" + change_input_index = np.concatenate((np.arange(N, step=step), np.array([N]))) + acc_perturbation = np.random.normal( + loc=0, scale=Sigma_0, size=(sample_num - 1, change_input_index.shape[0] - 1) + ) + steer_perturbation = np.random.normal( + loc=0, scale=Sigma_1, size=(sample_num - 1, change_input_index.shape[0] - 1) + ) + Input_perturbation = np.zeros((sample_num - 1, N, 2)) + + for i in range(change_input_index.shape[0] - 1): + Input_perturbation[ + :, change_input_index[i] : change_input_index[i + 1], 0 + ] += acc_perturbation[:, np.array([i])] + Input_perturbation[ + :, change_input_index[i] : change_input_index[i + 1], 1 + ] += steer_perturbation[:, np.array([i])] + + return Input_perturbation + + +class drive_mppi: + """Class that runs MPPI to compute optimal input values.""" + + def __init__( + self, + lam, + Sigma, + max_iter_mppi, + sample_num, + mppi_tol, + mppi_step, + ): + self.lam = lam + self.Sigma = Sigma + + self.max_iter_mppi = max_iter_mppi + self.sample_num = sample_num + self.mppi_tol = mppi_tol + self.mppi_step = mppi_step + + def generate_sample_inputs(self, inputs): + """Generate input samples in MPPI.""" + N = inputs.shape[0] + nu = inputs.shape[1] + Inputs = np.zeros((self.sample_num, N, nu)) + + Inputs += inputs + Inputs[1:] += generate_input_perturbation( + N, self.sample_num, self.mppi_step, self.Sigma[0], self.Sigma[1] + ) + return Inputs + + def calc_forward_trajectories_with_cost(self, x_current, Inputs, X_des, U_des, Previous_error): + """Calculate the predicted trajectory and cost. + + Given the current state and the candidate input columns in the line search. + """ + N = Inputs.shape[1] + samples = Inputs.shape[0] + Traj = np.zeros((samples, N + 1, x_current.shape[0])) + Traj[:, 0, :] += x_current + Cost = np.zeros(samples) + for k in range(N): + Cost += drive_functions.calc_cost_only_for_states( + X_des[k], Traj[:, k, index_cost], k + ) + self.lam * (Inputs[:, k, :] - Inputs[0, k, :]) @ ( + (1 / self.Sigma) * (Inputs[0, k, :] - U_des[k]) + ) + Traj[:, k + 1], Previous_error = self.F_for_candidates( + Traj[:, k], Inputs[:, k], Previous_error, k + ) + Cost += drive_functions.calc_cost_only_for_states(X_des[N], Traj[:, N, index_cost], N) + return Traj, Cost + + def proceed_mppi_step(self, x_current, inputs, X_des, U_des, previous_error): + """Proceed with MPPI iteration one time.""" + N = inputs.shape[0] + + previous_error_ = previous_error.reshape(1, -1).copy() + nominal_traj = np.zeros((N + 1, x_current.shape[0])) + nominal_traj[0] = x_current.copy() + for k in range(N): + if k == 0: + Traj_, previous_error_ = self.F_for_candidates( + nominal_traj[k].reshape(1, -1), inputs[k].reshape(1, -1), previous_error_, True + ) + nominal_traj[k + 1] = Traj_[0] + else: + Traj_, previous_error_ = self.F_for_candidates( + nominal_traj[k].reshape(1, -1), inputs[k].reshape(1, -1), previous_error_, False + ) + nominal_traj[k + 1] = Traj_[0] + + Inputs = self.generate_sample_inputs(inputs) + + Previous_error = np.tile(previous_error, (self.sample_num, 1)) + _, Cost = self.calc_forward_trajectories_with_cost( + x_current, Inputs, X_des, U_des, Previous_error + ) + original_cost = Cost[0] + best_cost = Cost.min() + Exps = np.exp(-(Cost - best_cost) / self.lam) + Exps = Exps / Exps.sum() + new_inputs = (Inputs.T @ Exps).T + previous_error_ = previous_error.reshape(1, -1).copy() + new_traj = np.zeros((N + 1, x_current.shape[0])) + new_traj[0] = x_current.copy() + for k in range(N): + if k == 0: + Traj_, previous_error_ = self.F_for_candidates( + new_traj[k].reshape(1, -1), new_inputs[k].reshape(1, -1), previous_error_, True + ) + new_traj[k + 1] = Traj_[0] + else: + Traj_, previous_error_ = self.F_for_candidates( + new_traj[k].reshape(1, -1), new_inputs[k].reshape(1, -1), previous_error_, False + ) + new_traj[k + 1] = Traj_[0] + if np.dot(Exps, Cost) < (1 - self.mppi_tol) * original_cost: + proceed = True + else: + proceed = False + return new_traj, new_inputs, proceed + + def compute_optimal_control(self, x_current, inputs, X_des, U_des, previous_error): + """Calculate the optimal input based on MPPI.""" + for i in range(self.max_iter_mppi): + new_traj, new_inputs, proceed = self.proceed_mppi_step( + x_current, inputs, X_des, U_des, previous_error + ) + if not proceed: + break + return new_inputs, new_inputs[0], new_traj + + def receive_model(self, F_for_candidates: Callable): + """Receive vehicle model for control.""" + self.F_for_candidates = F_for_candidates diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp new file mode 100644 index 0000000000000..de65184ec9f8e --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp @@ -0,0 +1,487 @@ +// Copyright 2024 Proxima Technology Inc, TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include + +#include +namespace py = pybind11; + +double nominal_model_input(Eigen::VectorXd var, double lam, int step) +{ + double nominal_pred = var[0]; + nominal_pred += (var[step] - nominal_pred) * 0.03333 / lam; + nominal_pred += (var[step - 1] - nominal_pred) * 0.03333 / lam; + nominal_pred += (var[step - 2] - nominal_pred) * 0.03333 / lam; + return nominal_pred; +} +Eigen::RowVectorXd Nominal_model_input(Eigen::MatrixXd Var, double lam, int step) +{ + Eigen::RowVectorXd nominal_pred = Var.row(0); + nominal_pred += (Var.row(step) - nominal_pred) * 0.03333 / lam; + nominal_pred += (Var.row(step - 1) - nominal_pred) * 0.03333 / lam; + nominal_pred += (Var.row(step - 2) - nominal_pred) * 0.03333 / lam; + return nominal_pred; +} + +Eigen::VectorXd d_tanh(Eigen::VectorXd v) +{ + Eigen::VectorXd result = 1 / (v.array().cosh() * v.array().cosh()); + return result; +} +Eigen::VectorXd relu(Eigen::VectorXd x) +{ + Eigen::VectorXd x_ = x; + for (int i = 0; i < x.size(); i++) { + if (x[i] < 0) { + x_[i] = 0; + } + } + return x_; +} +Eigen::VectorXd d_relu(Eigen::VectorXd x) +{ + Eigen::VectorXd result = Eigen::VectorXd::Ones(x.size()); + for (int i = 0; i < x.size(); i++) { + if (x[i] < 0) { + result[i] = 0; + } + } + return result; +} + +Eigen::MatrixXd d_relu_product(Eigen::MatrixXd m, Eigen::VectorXd x) +{ + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(m.rows(), m.cols()); + for (int i = 0; i < m.cols(); i++) { + if (x[i] >= 0) { + result.col(i) = m.col(i); + } + } + return result; +} +Eigen::MatrixXd d_tanh_product(Eigen::MatrixXd m, Eigen::VectorXd x) +{ + Eigen::MatrixXd result = Eigen::MatrixXd(m.rows(), m.cols()); + for (int i = 0; i < m.cols(); i++) { + result.col(i) = m.col(i) / (std::cosh(x[i]) * std::cosh(x[i])); + } + return result; +} +Eigen::MatrixXd test_product(Eigen::VectorXd v, Eigen::MatrixXd m) +{ + return v.asDiagonal() * m; +} +Eigen::VectorXd get_polynomial_features(Eigen::VectorXd x, int deg, int dim) +{ + int n_features = x.size(); + Eigen::VectorXd result = Eigen::VectorXd(dim); + result.head(n_features) = x; + if (deg >= 2) { + std::vector index = {}; + for (int feature_idx = 0; feature_idx < n_features + 1; feature_idx++) { + index.push_back(feature_idx); + } + int current_idx = n_features; + for (int i = 0; i < deg - 1; i++) { + std::vector new_index = {}; + int end = index[index.size() - 1]; + for (int feature_idx = 0; feature_idx < n_features; feature_idx++) { + int start = index[feature_idx]; + new_index.push_back(current_idx); + int next_idx = current_idx + end - start; + result.segment(current_idx, end - start) = + x[feature_idx] * result.segment(start, end - start); + current_idx = next_idx; + } + new_index.push_back(current_idx); + index = new_index; + } + } + return result; +} +Eigen::MatrixXd get_polynomial_features_with_diff(Eigen::VectorXd x, int deg, int dim) +{ + int n_features = x.size(); + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(dim, n_features + 1); + result.block(0, 0, n_features, 1) = x; + result.block(0, 1, n_features, n_features) = Eigen::MatrixXd::Identity(n_features, n_features); + if (deg >= 2) { + std::vector index = {}; + for (int feature_idx = 0; feature_idx < n_features + 1; feature_idx++) { + index.push_back(feature_idx); + } + int current_idx = n_features; + for (int i = 0; i < deg - 1; i++) { + std::vector new_index = {}; + int end = index[index.size() - 1]; + for (int feature_idx = 0; feature_idx < n_features; feature_idx++) { + int start = index[feature_idx]; + new_index.push_back(current_idx); + int next_idx = current_idx + end - start; + result.block(current_idx, 0, end - start, n_features + 1) = + x[feature_idx] * result.block(start, 0, end - start, n_features + 1); + result.block(current_idx, feature_idx + 1, end - start, 1) += + result.block(start, 0, end - start, 1); + current_idx = next_idx; + } + new_index.push_back(current_idx); + index = new_index; + } + } + return result; +} +class transform_model_to_eigen +{ +private: + Eigen::MatrixXd weight_0; + Eigen::MatrixXd weight_1; + Eigen::MatrixXd weight_2; + Eigen::MatrixXd weight_3; + Eigen::MatrixXd weight_4; + Eigen::MatrixXd weight_5; + Eigen::MatrixXd weight_6; + Eigen::MatrixXd weight_7; + Eigen::VectorXd bias_0; + Eigen::VectorXd bias_1; + Eigen::VectorXd bias_2; + Eigen::VectorXd bias_3; + Eigen::VectorXd bias_4; + Eigen::VectorXd bias_5; + Eigen::VectorXd bias_6; + Eigen::VectorXd bias_7; + Eigen::MatrixXd A_linear_reg; + Eigen::VectorXd b_linear_reg; + int deg; + double acc_time_constant; + int acc_delay_step; + double steer_time_constant; + int steer_delay_step; + int acc_ctrl_queue_size; + int steer_ctrl_queue_size; + int steer_ctrl_queue_size_core; + double max_acc_error = 20.0; + double max_steer_error = 20.0; + +public: + transform_model_to_eigen() {} + void set_params( + Eigen::MatrixXd weight_0_, Eigen::MatrixXd weight_1_, Eigen::MatrixXd weight_2_, + Eigen::MatrixXd weight_3_, Eigen::MatrixXd weight_4_, Eigen::MatrixXd weight_5_, + Eigen::MatrixXd weight_6_, Eigen::MatrixXd weight_7_, Eigen::VectorXd bias_0_, + Eigen::VectorXd bias_1_, Eigen::VectorXd bias_2_, Eigen::VectorXd bias_3_, + Eigen::VectorXd bias_4_, Eigen::VectorXd bias_5_, Eigen::VectorXd bias_6_, + Eigen::VectorXd bias_7_, Eigen::MatrixXd A_linear_reg_, Eigen::VectorXd b_linear_reg_, int deg_, + double acc_time_constant_, int acc_delay_step_, double steer_time_constant_, + int steer_delay_step_, int acc_ctrl_queue_size_, int steer_ctrl_queue_size_, + int steer_ctrl_queue_size_core_) + { + weight_0 = weight_0_; + weight_1 = weight_1_; + weight_2 = weight_2_; + weight_3 = weight_3_; + weight_4 = weight_4_; + weight_5 = weight_5_; + weight_6 = weight_6_; + weight_7 = weight_7_; + bias_0 = bias_0_; + bias_1 = bias_1_; + bias_2 = bias_2_; + bias_3 = bias_3_; + bias_4 = bias_4_; + bias_5 = bias_5_; + bias_6 = bias_6_; + bias_7 = bias_7_; + A_linear_reg = A_linear_reg_; + b_linear_reg = b_linear_reg_; + deg = deg_; + acc_time_constant = acc_time_constant_; + acc_delay_step = acc_delay_step_; + steer_time_constant = steer_time_constant_; + steer_delay_step = steer_delay_step_; + acc_ctrl_queue_size = acc_ctrl_queue_size_; + steer_ctrl_queue_size = steer_ctrl_queue_size_; + steer_ctrl_queue_size_core = steer_ctrl_queue_size_core_; + } + Eigen::VectorXd error_prediction(Eigen::VectorXd x) + { + Eigen::VectorXd acc_sub(acc_ctrl_queue_size + 1); + acc_sub[0] = x[1]; + acc_sub.tail(acc_ctrl_queue_size) = x.segment(3, acc_ctrl_queue_size); + + Eigen::VectorXd steer_sub(steer_ctrl_queue_size_core + 1); + steer_sub[0] = x[2]; + steer_sub.tail(steer_ctrl_queue_size_core) = + x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size_core); + Eigen::VectorXd acc_layer_1 = relu(weight_0 * acc_sub + bias_0); + + Eigen::VectorXd steer_layer_1(bias_1.size() + bias_2.size()); + steer_layer_1.head(bias_1.size()) = relu(weight_1 * steer_sub + bias_1); + + Eigen::VectorXd steer_input_full = x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size); + steer_layer_1.tail(bias_2.size()) = relu(weight_2 * steer_input_full + bias_2); + + Eigen::VectorXd acc_layer_2 = (weight_3 * acc_layer_1 + bias_3).array().tanh(); + + Eigen::VectorXd steer_layer_2 = (weight_4 * steer_layer_1 + bias_4).array().tanh(); + + Eigen::VectorXd h1(1 + acc_layer_2.size() + steer_layer_2.size()); + h1[0] = x[0]; + h1.segment(1, acc_layer_2.size()) = acc_layer_2; + h1.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd h2 = relu(weight_5 * h1 + bias_5); + Eigen::VectorXd h3 = relu(weight_6 * h2 + bias_6); + Eigen::VectorXd h4(h3.size() + acc_layer_2.size() + steer_layer_2.size()); + h4.head(h3.size()) = h3; + h4.segment(h3.size(), acc_layer_2.size()) = acc_layer_2; + h4.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd x_for_polynomial_reg(5); + x_for_polynomial_reg.head(3) = x.head(3); + x_for_polynomial_reg[3] = x[3 + acc_delay_step]; + x_for_polynomial_reg[4] = x[3 + acc_ctrl_queue_size + steer_delay_step]; + Eigen::VectorXd y = + weight_7 * h4 + bias_7 + + A_linear_reg * get_polynomial_features(x_for_polynomial_reg, deg, A_linear_reg.cols()) + + b_linear_reg; + y[4] = std::min(std::max(y[4], -max_acc_error), max_acc_error); + y[5] = std::min(std::max(y[5], -max_steer_error), max_steer_error); + return y; + } + Eigen::VectorXd rot_and_d_rot_error_prediction(Eigen::VectorXd x) + { + int x_dim = x.size(); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + /* + In previous implementations, the training model was unreliable in the low speed range + because data in the low speed range was excluded from the training data + in order to exclude data not under control from them. + However, now the topic /system/operation_mode/state is used to identify + whether the data is under control or not. + Therefore, it may be safe to always set coef = 1, and this variable may be eliminated + once it is confirmed safe to do so. + */ + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + + Eigen::Matrix2d dRot; + dRot << -sin, -cos, cos, -sin; + Eigen::VectorXd vars(x_dim - 3); + vars[0] = x[2]; + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + Eigen::VectorXd pred = error_prediction(vars); + Eigen::VectorXd rot_and_d_rot_pred(8); + rot_and_d_rot_pred.head(2) = Rot * pred.head(2); + rot_and_d_rot_pred.segment(2, 4) = pred.segment(2, 4); + rot_and_d_rot_pred.tail(2) = dRot * pred.head(2); + + return coef * rot_and_d_rot_pred; + } + Eigen::MatrixXd error_prediction_with_diff(Eigen::VectorXd x) + { + Eigen::VectorXd acc_sub(acc_ctrl_queue_size + 1); + acc_sub[0] = x[1]; + acc_sub.tail(acc_ctrl_queue_size) = x.segment(3, acc_ctrl_queue_size); + + Eigen::VectorXd steer_sub(steer_ctrl_queue_size_core + 1); + steer_sub[0] = x[2]; + steer_sub.tail(steer_ctrl_queue_size_core) = + x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size_core); + Eigen::VectorXd steer_input_full = x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size); + + Eigen::VectorXd u_acc_layer_1 = weight_0 * acc_sub + bias_0; + Eigen::VectorXd acc_layer_1 = relu(u_acc_layer_1); + + Eigen::VectorXd u_steer_layer_1(bias_1.size() + bias_2.size()); + u_steer_layer_1.head(bias_1.size()) = weight_1 * steer_sub + bias_1; + u_steer_layer_1.tail(bias_2.size()) = weight_2 * steer_input_full + bias_2; + Eigen::VectorXd steer_layer_1 = relu(u_steer_layer_1); + + Eigen::VectorXd u_acc_layer_2 = weight_3 * acc_layer_1 + bias_3; + Eigen::VectorXd acc_layer_2 = u_acc_layer_2.array().tanh(); + + Eigen::VectorXd u_steer_layer_2 = weight_4 * steer_layer_1 + bias_4; + Eigen::VectorXd steer_layer_2 = u_steer_layer_2.array().tanh(); + + Eigen::VectorXd h1(1 + acc_layer_2.size() + steer_layer_2.size()); + h1[0] = x[0]; + h1.segment(1, acc_layer_2.size()) = acc_layer_2; + h1.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd u2 = weight_5 * h1 + bias_5; + Eigen::VectorXd h2 = relu(u2); + Eigen::VectorXd u3 = weight_6 * h2 + bias_6; + Eigen::VectorXd h3 = relu(u3); + Eigen::VectorXd h4(h3.size() + acc_layer_2.size() + steer_layer_2.size()); + h4.head(h3.size()) = h3; + h4.segment(h3.size(), acc_layer_2.size()) = acc_layer_2; + h4.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd x_for_polynomial_reg(5); + x_for_polynomial_reg.head(3) = x.head(3); + x_for_polynomial_reg[3] = x[3 + acc_delay_step]; + x_for_polynomial_reg[4] = x[3 + acc_ctrl_queue_size + steer_delay_step]; + Eigen::MatrixXd polynomial_features_with_diff = + get_polynomial_features_with_diff(x_for_polynomial_reg, deg, A_linear_reg.cols()); + + Eigen::VectorXd y = + weight_7 * h4 + bias_7 + + A_linear_reg * polynomial_features_with_diff.block(0, 0, A_linear_reg.cols(), 1) + + b_linear_reg; + y[4] = std::min(std::max(y[4], -max_acc_error), max_acc_error); + y[5] = std::min(std::max(y[5], -max_steer_error), max_steer_error); + // Eigen::MatrixXd dy_dh4 = weight_7; + + Eigen::MatrixXd dy_dh3 = weight_7.block(0, 0, y.size(), h3.size()); + Eigen::MatrixXd dy_dh2 = d_relu_product(dy_dh3, u3) * weight_6; + Eigen::MatrixXd dy_dh1 = d_relu_product(dy_dh2, u2) * weight_5; + + Eigen::MatrixXd dy_da2 = dy_dh1.block(0, 1, y.size(), acc_layer_2.size()) + + weight_7.block(0, h3.size(), y.size(), acc_layer_2.size()); + Eigen::MatrixXd dy_ds2 = + dy_dh1.block(0, 1 + acc_layer_2.size(), y.size(), steer_layer_2.size()) + + weight_7.block(0, h3.size() + acc_layer_2.size(), y.size(), steer_layer_2.size()); + Eigen::MatrixXd dy_da1 = d_tanh_product(dy_da2, u_acc_layer_2) * weight_3; + Eigen::MatrixXd dy_ds1 = d_tanh_product(dy_ds2, u_steer_layer_2) * weight_4; + + Eigen::MatrixXd dy_d_acc = d_relu_product(dy_da1, u_acc_layer_1) * weight_0; + Eigen::MatrixXd dy_d_steer = Eigen::MatrixXd::Zero(y.size(), steer_input_full.size() + 1); + dy_d_steer.block(0, 1, y.size(), steer_input_full.size()) += + d_relu_product( + dy_ds1.block(0, bias_1.size(), y.size(), bias_2.size()), + u_steer_layer_1.tail(bias_2.size())) * + weight_2; + dy_d_steer.block(0, 0, y.size(), steer_sub.size()) += + d_relu_product( + dy_ds1.block(0, 0, y.size(), bias_1.size()), u_steer_layer_1.head(bias_1.size())) * + weight_1; + + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(y.size(), x.size() + 1); + + result.col(0) = y; + + result.col(1) = dy_dh1.col(0); + result.col(2) = dy_d_acc.col(0); + result.col(3) = dy_d_steer.col(0); + result.block(0, 4, y.size(), acc_ctrl_queue_size) = + dy_d_acc.block(0, 1, y.size(), acc_ctrl_queue_size); + result.block(0, 4 + acc_ctrl_queue_size, y.size(), steer_ctrl_queue_size) = + dy_d_steer.block(0, 1, y.size(), steer_ctrl_queue_size); + + Eigen::MatrixXd polynomial_reg_diff = + A_linear_reg * + polynomial_features_with_diff.block(0, 1, A_linear_reg.cols(), x_for_polynomial_reg.size()); + result.block(0, 1, y.size(), 3) += polynomial_reg_diff.block(0, 0, y.size(), 3); + result.block(0, 4 + acc_delay_step, y.size(), 1) += + polynomial_reg_diff.block(0, 3, y.size(), 1); + result.block(0, 4 + acc_ctrl_queue_size + steer_delay_step, y.size(), 1) += + polynomial_reg_diff.block(0, 4, y.size(), 1); + return result; + } + Eigen::MatrixXd rot_and_d_rot_error_prediction_with_diff(Eigen::VectorXd x) + { + int x_dim = x.size(); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + + Eigen::Matrix2d dRot; + dRot << -sin, -cos, cos, -sin; + Eigen::VectorXd vars(x_dim - 3); + vars[0] = x[2]; + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + + Eigen::MatrixXd pred_d_pred = error_prediction_with_diff(vars); + Eigen::VectorXd pred = pred_d_pred.col(0); + Eigen::MatrixXd d_pred = pred_d_pred.block(0, 1, 6, x_dim - 3); + Eigen::MatrixXd rot_and_d_rot_pred_with_diff = Eigen::MatrixXd::Zero(6, x_dim + 2); + Eigen::MatrixXd rot_pred_with_diff(6, x_dim - 3); + rot_pred_with_diff.block(0, 0, 2, x_dim - 3) = Rot * d_pred.block(0, 0, 2, x_dim - 3); + rot_pred_with_diff.block(2, 0, 4, x_dim - 3) = d_pred.block(2, 0, 4, x_dim - 3); + + rot_and_d_rot_pred_with_diff.block(0, 0, 2, 1) = Rot * pred.head(2); + rot_and_d_rot_pred_with_diff.block(2, 0, 4, 1) = pred.segment(2, 4); + rot_and_d_rot_pred_with_diff.block(0, 1, 2, 1) = dRot * pred.head(2); + rot_and_d_rot_pred_with_diff.col(2 + 2) = rot_pred_with_diff.col(0); + rot_and_d_rot_pred_with_diff.col(2 + 4) = rot_pred_with_diff.col(1); + rot_and_d_rot_pred_with_diff.col(2 + 5) = rot_pred_with_diff.col(2); + rot_and_d_rot_pred_with_diff.block(0, 2 + 6, 6, x_dim - 6) = + rot_pred_with_diff.block(0, 3, 6, x_dim - 6); + return coef * rot_and_d_rot_pred_with_diff; + } + Eigen::MatrixXd Rotated_error_prediction(Eigen::MatrixXd X) + { + int X_cols = X.cols(); + int x_dim = X.rows(); + Eigen::MatrixXd Pred(6, X_cols); + for (int i = 0; i < X_cols; i++) { + Eigen::VectorXd x = X.col(i); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + Eigen::VectorXd vars(x_dim - 3); + + vars[0] = x[2]; + + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + Eigen::VectorXd pred = error_prediction(vars); + Pred.block(0, i, 2, 1) = coef * Rot * pred.head(2); + Pred.block(2, i, 4, 1) = coef * pred.tail(4); + } + return Pred; + } +}; + +PYBIND11_MODULE(proxima_calc, m) +{ + py::class_(m, "transform_model_to_eigen") + .def(py::init()) + .def("set_params", &transform_model_to_eigen::set_params) + .def( + "rot_and_d_rot_error_prediction", &transform_model_to_eigen::rot_and_d_rot_error_prediction) + .def("error_prediction_with_diff", &transform_model_to_eigen::error_prediction_with_diff) + .def( + "rot_and_d_rot_error_prediction_with_diff", + &transform_model_to_eigen::rot_and_d_rot_error_prediction_with_diff) + .def("Rotated_error_prediction", &transform_model_to_eigen::Rotated_error_prediction); +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py new file mode 100755 index 0000000000000..409b6bf594c9e --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py @@ -0,0 +1,859 @@ +#!/usr/bin/env python3 + +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore interp + +import time + +from autoware_adapi_v1_msgs.msg import OperationModeState +from autoware_auto_control_msgs.msg import AckermannControlCommand +from autoware_auto_planning_msgs.msg import Trajectory +from autoware_auto_planning_msgs.msg import TrajectoryPoint +from autoware_auto_vehicle_msgs.msg import SteeringReport +from builtin_interfaces.msg import Duration +from geometry_msgs.msg import AccelWithCovarianceStamped +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Odometry +import numpy as np +import rclpy +from rclpy.node import Node +import scipy +import scipy.interpolate +from scipy.spatial.transform import Rotation as R +from scipy.spatial.transform import Slerp +from smart_mpc_trajectory_follower.scripts import drive_controller +from smart_mpc_trajectory_follower.scripts import drive_functions +from std_msgs.msg import String +from tier4_debug_msgs.msg import BoolStamped +from tier4_debug_msgs.msg import Float32MultiArrayStamped +from tier4_debug_msgs.msg import Float32Stamped + + +def getYaw(orientation_xyzw): + return R.from_quat(orientation_xyzw.reshape(-1, 4)).as_euler("xyz")[:, 2] + + +class PyMPCTrajectoryFollower(Node): + def __init__(self): + # MPC logic + self.controller = drive_controller.drive_controller( + model_file_name=(drive_functions.load_dir + "/model_for_test_drive.pth"), + ) + + # ROS 2 + super().__init__("pympc_trajectory_follower") + self.sub_trajectory_ = self.create_subscription( + Trajectory, + "/planning/scenario_planning/trajectory", + self.onTrajectory, + 1, + ) + self.sub_trajectory_ # prevent unused variable warning + + self.sub_odometry_ = self.create_subscription( + Odometry, + "/localization/kinematic_state", + self.onOdometry, + 1, + ) + self.sub_odometry_ + + self.sub_accel_ = self.create_subscription( + AccelWithCovarianceStamped, + "/localization/acceleration", + self.onAccel, + 1, + ) + self.sub_accel_ + + self.sub_steering_ = self.create_subscription( + SteeringReport, + "/vehicle/status/steering_status", + self.onSteering, + 1, + ) + self.sub_steering_ + + self.sub_operation_mode_ = self.create_subscription( + OperationModeState, + "/system/operation_mode/state", + self.onOperationMode, + 1, + ) + self.sub_operation_mode_ + + self.sub_stop_mode_reset_request_ = self.create_subscription( + String, + "/pympc_stop_mode_reset_request", + self.onStopModeResetRequest, + 1, + ) + self.sub_stop_mode_reset_request_ + + self.sub_goal_pose_ = self.create_subscription( + PoseStamped, + "/planning/mission_planning/echo_back_goal_pose", + self.onGoalPose, + 1, + ) + self.sub_goal_pose_ + + self.sub_step_response_trigger_ = self.create_subscription( + String, + "/pympc_step_response_trigger", + self.onStepResponseTrigger, + 1, + ) + self.sub_step_response_trigger_ + + self.sub_reload_mpc_param_trigger_ = self.create_subscription( + String, + "/pympc_reload_mpc_param_trigger", + self.onReloadMpcParamTrigger, + 1, + ) + self.sub_reload_mpc_param_trigger_ + + self.sub_control_command_control_cmd_ = self.create_subscription( + AckermannControlCommand, + "/control/command/control_cmd", + self.onControlCommandControlCmd, + 3, + ) + self.sub_control_command_control_cmd_ + + self.control_cmd_pub_ = self.create_publisher( + AckermannControlCommand, + "/control/trajectory_follower/control_cmd", + 1, + ) + + self.predicted_trajectory_pub_ = self.create_publisher( + Trajectory, + "/control/trajectory_follower/lateral/predicted_trajectory", + 1, + ) + + self.timer_period_callback = 0.03 # 30ms + + self.timer = self.create_timer(self.timer_period_callback, self.timer_callback) + + self.debug_mpc_x_current_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_x_current", + 1, + ) + self.debug_mpc_x_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_x_des", + 1, + ) + self.debug_mpc_y_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_y_des", + 1, + ) + self.debug_mpc_v_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_v_des", + 1, + ) + self.debug_mpc_yaw_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_yaw_des", + 1, + ) + self.debug_mpc_acc_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_acc_des", + 1, + ) + self.debug_mpc_steer_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_steer_des", + 1, + ) + + self.debug_mpc_X_des_converted_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_X_des_converted", + 1, + ) + + self.debug_mpc_nominal_traj_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_nominal_traj", + 1, + ) + + self.debug_mpc_nominal_inputs_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_nominal_inputs", + 1, + ) + + self.debug_mpc_X_input_list_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_X_input_list", + 1, + ) + + self.debug_mpc_Y_output_list_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_Y_output_list", + 1, + ) + + self.debug_mpc_error_prediction_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_error_prediction", + 1, + ) + + self.debug_mpc_emergency_stop_mode_pub_ = self.create_publisher( + BoolStamped, + "/debug_mpc_emergency_stop_mode", + 1, + ) + + self.debug_mpc_goal_stop_mode_pub_ = self.create_publisher( + BoolStamped, + "/debug_mpc_goal_stop_mode", + 1, + ) + + self.debug_mpc_max_trajectory_err_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_max_trajectory_err", + 1, + ) + + self.debug_mpc_calc_u_opt_time_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_calc_u_opt_time", + 1, + ) + + self.debug_mpc_total_ctrl_time_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_total_ctrl_time", + 1, + ) + + self._present_trajectory = None + self._present_kinematic_state = None + self._present_acceleration = None + self._present_steering_status = None + self._present_operation_mode = None + self._goal_pose = None + self.control_cmd_time_stamp_list = [] + self.control_cmd_steer_list = [] + self.control_cmd_acc_list = [] + + self.emergency_stop_mode_flag = False + self.stop_mode_reset_request = False + self.step_response_flag = False + self.step_response_trigger = False + self.step_response_time_step = 0 + self.last_acc_cmd = 0.0 + self.last_steer_cmd = 0.0 + self.past_control_trajectory_mode = 1 + + def onTrajectory(self, msg): + self._present_trajectory = msg + + def onOdometry(self, msg): + self._present_kinematic_state = msg + + def onAccel(self, msg): + self._present_acceleration = msg + + def onSteering(self, msg): + self._present_steering_status = msg + + def onOperationMode(self, msg): + self._present_operation_mode = msg + + def onStopModeResetRequest(self, msg): + self.stop_mode_reset_request = True + self.step_response_flag = False + self.get_logger().info("receive stop mode reset request") + + def onGoalPose(self, msg): + self._goal_pose = msg + + def onStepResponseTrigger(self, msg): + self.step_response_trigger = True + self.get_logger().info("receive step response trigger") + + def onReloadMpcParamTrigger(self, msg): + self.get_logger().info("receive reload mpc param trigger") + + # Re-starting the controller + # Reloading parameters etc. internally. + self.controller = drive_controller.drive_controller( + model_file_name=(drive_functions.load_dir + "/model_for_test_drive.pth"), + ) + + def onControlCommandControlCmd(self, msg): + present_cmd_msg = msg + if self.past_control_trajectory_mode == 0: + self.control_cmd_time_stamp_list.append( + present_cmd_msg.stamp.sec + 1e-9 * present_cmd_msg.stamp.nanosec + ) + self.control_cmd_steer_list.append(present_cmd_msg.lateral.steering_tire_angle) + self.control_cmd_acc_list.append(present_cmd_msg.longitudinal.acceleration) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + + def timer_callback(self): + if (self._present_trajectory is not None) and (self._present_kinematic_state is not None): + self.control() + + def control(self): + start_ctrl_time = time.time() + + # [1] Processing of information received from topics. + trajectory_position = [] + trajectory_orientation = [] + trajectory_longitudinal_velocity = [] + trajectory_lateral_velocity = [] + trajectory_acceleration = [] + trajectory_heading_rate = [] + points = self._present_trajectory.points + for i in range(len(points)): + trajectory_position.append( + [points[i].pose.position.x, points[i].pose.position.y, points[i].pose.position.z] + ) + trajectory_orientation.append( + [ + points[i].pose.orientation.x, + points[i].pose.orientation.y, + points[i].pose.orientation.z, + points[i].pose.orientation.w, + ] + ) + trajectory_longitudinal_velocity.append(points[i].longitudinal_velocity_mps) + trajectory_lateral_velocity.append(points[i].lateral_velocity_mps) + trajectory_acceleration.append(points[i].acceleration_mps2) + trajectory_heading_rate.append(points[i].heading_rate_rps) + trajectory_position = np.array(trajectory_position) + trajectory_orientation = np.array(trajectory_orientation) + trajectory_longitudinal_velocity = np.array(trajectory_longitudinal_velocity) + trajectory_lateral_velocity = np.array(trajectory_lateral_velocity) + trajectory_acceleration = np.array(trajectory_acceleration) + trajectory_heading_rate = np.array(trajectory_heading_rate) + + present_position = np.array( + [ + self._present_kinematic_state.pose.pose.position.x, + self._present_kinematic_state.pose.pose.position.y, + self._present_kinematic_state.pose.pose.position.z, + ] + ) + present_orientation = np.array( + [ + self._present_kinematic_state.pose.pose.orientation.x, + self._present_kinematic_state.pose.pose.orientation.y, + self._present_kinematic_state.pose.pose.orientation.z, + self._present_kinematic_state.pose.pose.orientation.w, + ] + ) + present_linear_velocity = np.array( + [ + self._present_kinematic_state.twist.twist.linear.x, + self._present_kinematic_state.twist.twist.linear.y, + self._present_kinematic_state.twist.twist.linear.z, + ] + ) + present_linear_acceleration = np.array( + [ + self._present_acceleration.accel.accel.linear.x, + self._present_acceleration.accel.accel.linear.y, + self._present_acceleration.accel.accel.linear.z, + ] + ) + + present_steering_tire_angle = np.array([self._present_steering_status.steering_tire_angle])[ + 0 + ] + + nearestIndex = ((trajectory_position - present_position) ** 2).sum(axis=1).argmin() + + is_applying_control = False + if self._present_operation_mode is not None: + if ( + self._present_operation_mode.mode == 2 + and self._present_operation_mode.is_autoware_control_enabled + ): + is_applying_control = True + + # [2] deviation check + position_deviation = np.sqrt( + ((trajectory_position[nearestIndex] - present_position) ** 2).sum() + ) + orientation_deviation = getYaw(present_orientation) - getYaw( + trajectory_orientation[nearestIndex] + ) + while True: + if orientation_deviation > np.pi: + orientation_deviation -= 2.0 * np.pi + if orientation_deviation < (-np.pi): + orientation_deviation += 2.0 * np.pi + if np.abs(orientation_deviation) < np.pi: + break + position_deviation_threshold = 2.0 + orientation_deviation_threshold = 60 * np.pi / 180.0 + + # The moment the threshold is exceeded, it enters emergency stop mode. + if is_applying_control: + if ( + position_deviation > position_deviation_threshold + or orientation_deviation > orientation_deviation_threshold + ): + self.emergency_stop_mode_flag = True + + # Normal return from emergency stop mode when within the threshold value and a request to cancel the stop mode has been received. + if ( + not ( + position_deviation > position_deviation_threshold + or orientation_deviation > orientation_deviation_threshold + ) + and self.stop_mode_reset_request + ): + self.emergency_stop_mode_flag = False + + # Processes to ensure that requests do not continue to remain after the stop mode is cancelled. + if not self.emergency_stop_mode_flag: + self.stop_mode_reset_request = False + + # [3] Control logic calculation + # [3-1] pure pursuit + # [3-1-1] compute pure pursuit acc cmd + longitudinal_vel_err = ( + present_linear_velocity - trajectory_longitudinal_velocity[nearestIndex] + ) + acc_kp = 0.5 + acc_lim = 2.0 + pure_pursuit_acc_cmd = np.clip(-acc_kp * longitudinal_vel_err, -acc_lim, acc_lim)[0] + + # [3-1-2] compute pure pursuit steer cmd + nearest_trajectory_point_yaw = getYaw(trajectory_orientation[nearestIndex]) + cos_yaw = np.cos(nearest_trajectory_point_yaw) + sin_yaw = np.sin(nearest_trajectory_point_yaw) + diff_position = present_position - trajectory_position[nearestIndex] + lat_err = -sin_yaw * diff_position[0] + cos_yaw * diff_position[1] + yaw_err = getYaw(present_orientation) - nearest_trajectory_point_yaw + while True: + if yaw_err > np.pi: + yaw_err -= 2.0 * np.pi + if yaw_err < (-np.pi): + yaw_err += 2.0 * np.pi + if np.abs(yaw_err) < np.pi: + break + wheel_base = drive_functions.L # 4.0 + lookahead_time = 3.0 + min_lookahead = 3.0 + lookahead = min_lookahead + lookahead_time * np.abs(present_linear_velocity[0]) + steer_kp = 2.0 * wheel_base / (lookahead * lookahead) + steer_kd = 2.0 * wheel_base / lookahead + steer_lim = 0.6 + pure_pursuit_steer_cmd = np.clip( + -steer_kp * lat_err - steer_kd * yaw_err, -steer_lim, steer_lim + )[0] + + # [3-2] MPC control logic calculation + # [3-2-1] State variables in the MPC + present_mpc_x = np.array( + [ + present_position[0], + present_position[1], + present_linear_velocity[0], + getYaw(present_orientation)[0], + present_linear_acceleration[0], + present_steering_tire_angle, + ] + ) + + # [3-2-2] resampling trajectory by time (except steer angle). + X_des = np.zeros((drive_functions.N + 1, 8)) + dist = np.sqrt(((trajectory_position[1:] - trajectory_position[:-1]) ** 2).sum(axis=1)) + timestamp_from_start = [0.0] + tmp_t = 0.0 + for i in range(len(dist)): + tmp_t += dist[i] / max(np.abs(trajectory_longitudinal_velocity[i]), 0.1) + timestamp_from_start.append(1 * tmp_t) + timestamp_from_start = np.array(timestamp_from_start) + + mpc_trajectory_time_step = 0.1 + timestamp_mpc = ( + np.arange(drive_functions.N + 1) * mpc_trajectory_time_step + + timestamp_from_start[nearestIndex] + ) + for i in range(drive_functions.N + 1): + if timestamp_mpc[drive_functions.N - i] > timestamp_from_start[-1]: + timestamp_mpc[drive_functions.N - i] = timestamp_from_start[-1] + else: + break + pos_x_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_position[:, 0] + ) + pos_y_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_position[:, 1] + ) + longitudinal_velocity_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_longitudinal_velocity + ) + key_rots = R.from_quat(trajectory_orientation.reshape(-1, 4)) + orientation_interpolate = Slerp(timestamp_from_start, key_rots) + acceleration_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_acceleration + ) + + X_des[:, 0] = pos_x_interpolate(timestamp_mpc) + X_des[:, 1] = pos_y_interpolate(timestamp_mpc) + X_des[:, 2] = longitudinal_velocity_interpolate(timestamp_mpc) + X_des[:, 3] = orientation_interpolate(timestamp_mpc).as_euler("xyz")[:, 2] + X_des[:, 4] = acceleration_interpolate(timestamp_mpc) + X_des[:, 6] = 1 * X_des[:, 4] + + # [3-2-3] resampling trajectory by time (steer angle) + previous_des_steer = 0.0 + steer_trajectory2 = np.zeros(len(timestamp_mpc)) + downsampling = 5 + for ii in range(2 + (int(len(timestamp_mpc) // downsampling))): + i = ii * downsampling + if i >= len(timestamp_mpc): + i = len(timestamp_mpc) - 1 + if (i % downsampling) == 0: + continue + + tmp_des_pos = 1 * X_des[i, :2] + distance_squared = ((trajectory_position[:, :2] - tmp_des_pos[:2]) ** 2).sum(axis=1) + tmp_nearest_index = distance_squared.argmin() + curvature_calculation_distance = 3.0 + nearestIndex_in_front = ( + np.abs( + distance_squared[tmp_nearest_index:] + - curvature_calculation_distance * curvature_calculation_distance + ) + ).argmin() + tmp_nearest_index + distance_in_front = np.sqrt(distance_squared[nearestIndex_in_front]) + if distance_in_front < curvature_calculation_distance: + curvature_calculation_distance = distance_in_front + if tmp_nearest_index > 0: + nearestIndex_behind = ( + np.abs( + distance_squared[:tmp_nearest_index] + - curvature_calculation_distance * curvature_calculation_distance + ) + ).argmin() + curvature_calculation_distance_threshold = 0.5 + if distance_in_front < curvature_calculation_distance_threshold: + # If there is no point in front, fill in with the value before it. + tmp_des_steer = 1 * previous_des_steer + else: + # Normal line passing through a point 3 m behind.：b1*x + b2*y + b3 = 0 + b1 = tmp_des_pos[0] - trajectory_position[nearestIndex_behind][0] + b2 = tmp_des_pos[1] - trajectory_position[nearestIndex_behind][1] + b3 = ( + -b1 * trajectory_position[nearestIndex_behind][0] + - b2 * trajectory_position[nearestIndex_behind][1] + ) + # Normal line through a point 3 m in front：f1*x + f2*y + f3 = 0 + f1 = tmp_des_pos[0] - trajectory_position[nearestIndex_in_front][0] + f2 = tmp_des_pos[1] - trajectory_position[nearestIndex_in_front][1] + f3 = ( + -f1 * trajectory_position[nearestIndex_in_front][0] + - f2 * trajectory_position[nearestIndex_in_front][1] + ) + det = b1 * f2 - b2 * f1 + if np.abs(det) < 1e-6: + # The two normals have the same slope, so steer is 0 + tmp_des_steer = 0.0 + else: + # solve Ax+b=0 + invA = np.array([[f2, -b2], [-f1, b1]]) / det + sol = -invA @ np.array([b3, f3]) # center of the circle + curvature = np.sqrt( + ((sol - trajectory_position[nearestIndex_behind][:2]) ** 2).sum() + ) + tmp_des_steer = np.arctan(drive_functions.L / curvature) + + tmp_vec_behind = sol - trajectory_position[nearestIndex_behind][:2] + # Line segment connecting backward point - centre of circle + cross_product = b1 * tmp_vec_behind[1] - b2 * tmp_vec_behind[0] + if cross_product < 0.0: + tmp_des_steer = -tmp_des_steer + + steer_trajectory2[i] = 1.0 * tmp_des_steer + previous_des_steer = 1.0 * tmp_des_steer + else: + steer_trajectory2[i] = 0.0 + previous_des_steer = 0.0 + + for i in range(len(timestamp_mpc) - 1): + reminder = i % downsampling + i0 = i - reminder + i1 = i0 + downsampling + if reminder == 0: + continue + if i1 >= len(timestamp_mpc): + i1 = len(timestamp_mpc) - 1 + w = (1.0 * reminder) / (i1 - i0) + steer_trajectory2[i] = (1 - w) * steer_trajectory2[i0] + w * steer_trajectory2[i1] + + X_des[:, 5] = steer_trajectory2 + X_des[:, 7] = 1 * X_des[:, 5] + + # [3-2-4] mpc computation + U_des = np.zeros((drive_functions.N, 2)) + start_calc_u_opt = time.time() + u_opt = self.controller.update_input_queue_and_get_optimal_control( + self.control_cmd_time_stamp_list, + self.control_cmd_acc_list, + self.control_cmd_steer_list, + present_mpc_x, + X_des, + U_des, + ) + end_calc_u_opt = time.time() + mpc_acc_cmd = u_opt[0] + mpc_steer_cmd = u_opt[1] + + # [3-3] Enter goal stop mode (override command value) to maintain stop at goal + self.goal_stop_mode_flag = False + if self._goal_pose is not None: + goal_position = np.array( + [ + self._goal_pose.pose.position.x, + self._goal_pose.pose.position.y, + self._goal_pose.pose.position.z, + ] + ) + + distance_from_goal = np.sqrt(((goal_position[:2] - present_position[:2]) ** 2).sum()) + goal_distance_threshold = 0.8 + if distance_from_goal < goal_distance_threshold: + self.goal_stop_mode_flag = True + + # [3-4] Override when doing step response + if self.step_response_trigger: + self.step_response_time_step = 0 + self.step_response_flag = True + self.step_response_trigger = False + + if self.step_response_flag: + step_response_elapsed_time = self.step_response_time_step * self.timer_period_callback + mpc_acc_cmd = 1.0 * self.last_acc_cmd + if step_response_elapsed_time < 3.0: + mpc_steer_cmd = 0.0 + else: + mpc_steer_cmd = -0.005 + self.get_logger().info( + "step_response_elapsed_time: " + + str(step_response_elapsed_time) + + ", mpc_steer_cmd: " + + str(mpc_steer_cmd) + ) + self.step_response_time_step += 1 + + # [3-5] Determine the control logic to be finally applied and publish it + acc_cmd = 0.0 + steer_cmd = 0.0 + if (not self.emergency_stop_mode_flag) and (not self.goal_stop_mode_flag): + # in normal mode + acc_cmd = mpc_acc_cmd + steer_cmd = mpc_steer_cmd + + overwrite_cmd_by_pure_pursuit_flag = False + if overwrite_cmd_by_pure_pursuit_flag: + steer_cmd = pure_pursuit_steer_cmd + acc_cmd = pure_pursuit_acc_cmd + else: + # in stop mode + acc_cmd_decrease_limit = 5.0 * self.timer_period_callback # lon_jerk_lim + steer_cmd_decrease_limit = 0.5 * self.timer_period_callback # steer_rate_lim + acc_cmd = max( + self.last_acc_cmd - acc_cmd_decrease_limit, -drive_functions.acc_lim_points[0] + ) # lon_acc_lim + if self.last_steer_cmd > (steer_cmd_decrease_limit + 1e-6): + steer_cmd = self.last_steer_cmd - steer_cmd_decrease_limit + elif self.last_steer_cmd < -(steer_cmd_decrease_limit + 1e-6): + steer_cmd = self.last_steer_cmd + steer_cmd_decrease_limit + else: + steer_cmd = 0.0 + + cmd_msg = AckermannControlCommand() + cmd_msg.stamp = cmd_msg.lateral.stamp = cmd_msg.longitudinal.stamp = ( + self.get_clock().now().to_msg() + ) + cmd_msg.longitudinal.speed = trajectory_longitudinal_velocity[nearestIndex] + cmd_msg.longitudinal.acceleration = acc_cmd + cmd_msg.lateral.steering_tire_angle = steer_cmd + + self.control_cmd_pub_.publish(cmd_msg) + self.last_acc_cmd = 1 * acc_cmd + self.last_steer_cmd = 1 * steer_cmd + + if self.past_control_trajectory_mode == 1: + self.control_cmd_time_stamp_list.append( + cmd_msg.stamp.sec + 1e-9 * cmd_msg.stamp.nanosec + ) + self.control_cmd_steer_list.append(steer_cmd) + self.control_cmd_acc_list.append(acc_cmd) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + + # [4] Update MPC internal variables + if not is_applying_control: + self.controller.send_initialize_input_queue() + self.controller.stop_model_update() + self.control_cmd_time_stamp_list.clear() + self.control_cmd_steer_list.clear() + self.control_cmd_acc_list.clear() + + # [5] MPC prediction trajectory publish + traj_msg = Trajectory() + traj_msg.header.stamp = cmd_msg.stamp + traj_msg.header.frame_id = "map" + downsampling = 3 + for ii in range(int(self.controller.nominal_traj.shape[0] // downsampling)): + i = ii * downsampling + traj_msg.points += [TrajectoryPoint()] + int_sec = int(i * mpc_trajectory_time_step) + traj_msg.points[ii].time_from_start = Duration() + traj_msg.points[ii].time_from_start.sec = int_sec + traj_msg.points[ii].time_from_start.nanosec = int( + (i * mpc_trajectory_time_step - int_sec) * 1e9 + ) + traj_msg.points[ii].pose.position.x = self.controller.nominal_traj[i, 0] + traj_msg.points[ii].pose.position.y = self.controller.nominal_traj[i, 1] + traj_msg.points[ii].pose.position.z = present_position[2] + tmp_orientation_xyzw = R.from_euler("z", self.controller.nominal_traj[i, 3]).as_quat() + traj_msg.points[ii].pose.orientation.x = tmp_orientation_xyzw[0] + traj_msg.points[ii].pose.orientation.y = tmp_orientation_xyzw[1] + traj_msg.points[ii].pose.orientation.z = tmp_orientation_xyzw[2] + traj_msg.points[ii].pose.orientation.w = tmp_orientation_xyzw[3] + traj_msg.points[ii].longitudinal_velocity_mps = self.controller.nominal_traj[i, 2] + traj_msg.points[ii].acceleration_mps2 = self.controller.nominal_traj[i, 4] + + self.predicted_trajectory_pub_.publish(traj_msg) + + # [-1] Publish internal information for debugging + enable_debug_pub = True + if enable_debug_pub: + self.debug_mpc_emergency_stop_mode_pub_.publish( + BoolStamped(stamp=cmd_msg.stamp, data=self.emergency_stop_mode_flag) + ) + self.debug_mpc_goal_stop_mode_pub_.publish( + BoolStamped(stamp=cmd_msg.stamp, data=self.goal_stop_mode_flag) + ) + self.debug_mpc_x_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 0]) + ) + self.debug_mpc_y_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 1]) + ) + self.debug_mpc_v_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 2]) + ) + self.debug_mpc_yaw_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 3]) + ) + self.debug_mpc_acc_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 4]) + ) + self.debug_mpc_steer_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 5]) + ) + self.debug_mpc_x_current_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=present_mpc_x.tolist()) + ) + self.debug_mpc_X_des_converted_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.X_des.flatten().tolist() + ) + ) + self.debug_mpc_nominal_traj_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.nominal_traj.flatten().tolist() + ) + ) + self.debug_mpc_nominal_inputs_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.nominal_inputs.flatten().tolist() + ) + ) + self.debug_mpc_X_input_list_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, + data=np.array(self.controller.X_input_list[-1:]).flatten().tolist(), + ) + ) + self.debug_mpc_Y_output_list_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, + data=np.array(self.controller.Y_output_list[-1:]).flatten().tolist(), + ) + ) + self.debug_mpc_max_trajectory_err_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=self.controller.err, + ) + ) + if self.controller.use_trained_model: + self.debug_mpc_error_prediction_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.previous_error[:6] + ) + ) + + end_ctrl_time = time.time() + + self.debug_mpc_calc_u_opt_time_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=(end_calc_u_opt - start_calc_u_opt), + ) + ) + + self.debug_mpc_total_ctrl_time_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=(end_ctrl_time - start_ctrl_time), + ) + ) + + +def main(args=None): + rclpy.init(args=args) + + pympc_trajectory_follower = PyMPCTrajectoryFollower() + + rclpy.spin(pympc_trajectory_follower) + + pympc_trajectory_follower.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore new file mode 100644 index 0000000000000..749ccdafd4f66 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore @@ -0,0 +1,4 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py new file mode 100644 index 0000000000000..3f6ef7a9f78d1 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py @@ -0,0 +1,293 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore ndimage usecols ndim interp savez + + +"""Class for preprocessing CSV data to obtain training data for training.""" + +import csv +import glob +import json +import os +from pathlib import Path + +import numpy as np +import scipy.interpolate +from scipy.ndimage import gaussian_filter +from scipy.spatial.transform import Rotation +from smart_mpc_trajectory_follower.scripts import drive_functions + + +def data_smoothing(data: np.ndarray, sigma: float) -> np.ndarray: + """Apply a Gaussian filter to the data.""" + data_ = gaussian_filter(data, sigma) + return data_ + + +def yaw_transform(raw_yaw: np.ndarray) -> np.ndarray: + """Adjust and transform within a period of 2π so that the yaw angle is continuous.""" + transformed_yaw = np.zeros(raw_yaw.shape) + transformed_yaw[0] = raw_yaw[0] + for i in range(raw_yaw.shape[0] - 1): + rotate_num = (raw_yaw[i + 1] - transformed_yaw[i]) // (2 * np.pi) + if raw_yaw[i + 1] - transformed_yaw[i] - 2 * rotate_num * np.pi < np.pi: + transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * rotate_num * np.pi + else: + transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * (rotate_num + 1) * np.pi + return transformed_yaw + + +class add_data_from_csv: + """Class for loading csv files containing driving data, converting them into teacher data for the NN training, and storing them in lists.""" + + X_input_list: list[np.ndarray] + """Input side of NN teacher data""" + + Y_output_list: list[np.ndarray] + """Output side of NN teacher data""" + + def __init__(self): + self.X_input_list = [] + self.Y_output_list = [] + + def clear_data(self): + """Clear the teacher data for the training.""" + self.X_input_list.clear() + self.Y_output_list.clear() + + def transform_rosbag_to_csv(self, dir_name: str, delete_csv_first: bool = True) -> None: + """Convert rosbag file to CSV format.""" + package_path_json = str(Path(__file__).parent.parent) + "/package_path.json" + with open(package_path_json, "r") as file: + package_path = json.load(file) + dir_exe = os.getcwd() + os.system( + "cp " + + package_path["path"] + + "/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash " + + dir_name + ) + os.chdir(dir_name) + if len(glob.glob("*.csv")) > 0 and delete_csv_first: + os.system("rm *.csv") + os.system("bash rosbag2.bash") + os.chdir(dir_exe) + + def add_data_from_csv(self, dir_name: str) -> None: + """Adding teacher data for training from a CSV file.""" + acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size + steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size + ctrl_time_step = drive_functions.ctrl_time_step + mpc_time_step = drive_functions.mpc_time_step + mpc_freq = drive_functions.mpc_freq + acc_delay_step_ctrl = drive_functions.acc_delay_step + steer_delay_step_ctrl = drive_functions.steer_delay_step + acc_time_constant_ctrl = drive_functions.acc_time_constant + steer_time_constant_ctrl = drive_functions.steer_time_constant + + kinematic = np.loadtxt( + dir_name + "/kinematic_state.csv", delimiter=",", usecols=[0, 1, 4, 5, 7, 8, 9, 10, 47] + ) + pose_position_x = kinematic[:, 2] + pose_position_y = kinematic[:, 3] + vel = kinematic[:, 8] + raw_yaw = Rotation.from_quat(kinematic[:, 4:8]).as_euler("xyz")[:, 2] + yaw = yaw_transform(raw_yaw) + + loc_acc = np.loadtxt(dir_name + "/acceleration.csv", delimiter=",", usecols=[0, 1, 3]) + acc = loc_acc[:, 2] + + acc_sm = data_smoothing(acc, drive_functions.acc_sigma_for_learning) + + vehicle_steer = np.loadtxt( + dir_name + "/steering_status.csv", delimiter=",", usecols=[0, 1, 2] + ) + steer = vehicle_steer[:, 2] + steer_sm = steer.copy() + steer_sm = data_smoothing(steer, drive_functions.steer_sigma_for_learning) + + control_cmd = np.loadtxt( + dir_name + "/control_cmd_orig.csv", delimiter=",", usecols=[0, 1, 4, 9] + ) + acc_des = control_cmd[:, 3] + acc_des_sm = data_smoothing(acc_des, drive_functions.acc_des_sigma_for_learning) + + steer_des = control_cmd[:, 2] + steer_des_sm = steer_des.copy() + steer_des_sm = data_smoothing(steer_des, drive_functions.steer_des_sigma_for_learning) + + operation_mode = np.loadtxt( + dir_name + "/system_operation_mode_state.csv", delimiter=",", usecols=[0, 1, 2] + ) + if operation_mode.ndim == 1: + operation_mode = operation_mode.reshape(1, -1) + with open(dir_name + "/system_operation_mode_state.csv") as f: + reader = csv.reader(f, delimiter=",") + autoware_control_enabled_str = np.array([row[3] for row in reader]) + + proxima_control_enabled = np.zeros(operation_mode.shape[0]) + for i in range(operation_mode.shape[0]): + if operation_mode[i, 2] > 1.5 and autoware_control_enabled_str[i] == "True": + proxima_control_enabled[i] = 1.0 + for i in range(operation_mode.shape[0] - 1): + if proxima_control_enabled[i] < 0.5 and proxima_control_enabled[i + 1] > 0.5: + operation_start_time = operation_mode[i + 1, 0] + 1e-9 * operation_mode[i + 1, 1] + elif proxima_control_enabled[i] > 0.5 and proxima_control_enabled[i + 1] < 0.5: + operation_end_time = operation_mode[i + 1, 0] + 1e-9 * operation_mode[i + 1, 1] + break + operation_end_time = kinematic[-1, 0] + 1e-9 * kinematic[-1, 1] + if operation_mode.shape[0] == 1: + operation_end_time = kinematic[-1, 0] + 1e-9 * kinematic[-1, 1] + if proxima_control_enabled[0] > 0.5: + operation_start_time = operation_mode[0, 0] + 1e-9 * operation_mode[0, 1] + print("operation_start_time", operation_start_time) + print("operation_end_time", operation_end_time) + min_time_stamp = max( + [ + operation_start_time, + kinematic[0, 0] + 1e-9 * kinematic[0, 1], + loc_acc[0, 0] + 1e-9 * loc_acc[0, 1], + vehicle_steer[0, 0] + 1e-9 * vehicle_steer[0, 1], + control_cmd[0, 0] + 1e-9 * control_cmd[0, 1], + ] + ) + max_time_stamp = min( + [ + operation_end_time, + kinematic[-1, 0] + 1e-9 * kinematic[-1, 1], + loc_acc[-1, 0] + 1e-9 * loc_acc[-1, 1], + vehicle_steer[-1, 0] + 1e-9 * vehicle_steer[-1, 1], + control_cmd[-1, 0] + 1e-9 * control_cmd[-1, 1], + ] + ) + + trajectory_interpolator_list = [] + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], pose_position_x) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], pose_position_y) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], vel) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], yaw) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(loc_acc[:, 0] + 1e-9 * loc_acc[:, 1], acc_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(vehicle_steer[:, 0] + 1e-9 * vehicle_steer[:, 1], steer_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(control_cmd[:, 0] + 1e-9 * control_cmd[:, 1], acc_des_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(control_cmd[:, 0] + 1e-9 * control_cmd[:, 1], steer_des_sm) + ) + + def get_interpolated_state(s): + x_current = np.zeros(6) + for i in range(6): + x_current[i] = trajectory_interpolator_list[i](s) + return x_current + + def get_interpolated_input(s): + u_input = np.zeros(2) + for i in range(2): + u_input[i] = trajectory_interpolator_list[6 + i](s) + return u_input + + s = min_time_stamp + X = [] + U = [] + + Timestamp = [] + while True: + if s > max_time_stamp: + break + X.append(get_interpolated_state(s)) + + U.append(get_interpolated_input(s)) + + Timestamp.append(s) + s += ctrl_time_step + + X_array = np.array(X) + U_array = np.array(U) + X_input_list = [] + Y_output_list = [] + Timestamp_learn = [] + for i in range( + max(acc_ctrl_queue_size, steer_ctrl_queue_size) + 1, X_array.shape[0] - mpc_freq - 1 + ): + acc_input_queue = U_array[i - acc_ctrl_queue_size : i, 0].copy() + steer_input_queue = U_array[i - steer_ctrl_queue_size : i, 1].copy() + x_current = X_array[i + 3] + x_old = X_array[i] + + Timestamp_learn.append(Timestamp[i]) + X_input_list.append( + np.concatenate((x_old[[2, 4, 5]], acc_input_queue[::-1], steer_input_queue[::-1])) + ) + acc_start = acc_ctrl_queue_size - acc_delay_step_ctrl + acc_end = acc_ctrl_queue_size - acc_delay_step_ctrl + mpc_freq + steer_start = steer_ctrl_queue_size - steer_delay_step_ctrl + steer_end = steer_ctrl_queue_size - steer_delay_step_ctrl + mpc_freq + + u_for_predict_x_current = np.zeros((mpc_freq, 2)) + u_for_predict_x_current[:, 0] = acc_input_queue[acc_start:acc_end] + u_for_predict_x_current[:, 1] = steer_input_queue[steer_start:steer_end] + var_dot = x_current - drive_functions.F_multiple( + x_old, u_for_predict_x_current, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + var_dot /= mpc_time_step + if var_dot[3] > 1: + print(i) + Y_output_list.append(drive_functions.rotate_data(x_old, var_dot)) + + Y_output_list_array = np.array(Y_output_list) + Y_smooth = Y_output_list_array.copy() + Y_smooth[:, 0] = data_smoothing( + Y_output_list_array[:, 0], drive_functions.x_out_sigma_for_learning + ) + Y_smooth[:, 1] = data_smoothing( + Y_output_list_array[:, 1], drive_functions.y_out_sigma_for_learning + ) + Y_smooth[:, 2] = data_smoothing( + Y_output_list_array[:, 2], drive_functions.v_out_sigma_for_learning + ) + Y_smooth[:, 3] = data_smoothing( + Y_output_list_array[:, 3], drive_functions.theta_out_sigma_for_learning + ) + Y_smooth[:, 4] = data_smoothing( + Y_output_list_array[:, 4], drive_functions.acc_out_sigma_for_learning + ) + Y_smooth[:, 5] = data_smoothing( + Y_output_list_array[:, 5], drive_functions.steer_out_sigma_for_learning + ) + + for i in range(len(X_input_list)): + self.X_input_list.append(X_input_list[i]) + self.Y_output_list.append(Y_smooth[i]) + + def save_train_data(self, save_dir=".") -> None: + """Save neural net teacher data.""" + np.savez( + save_dir + "/train_data", + X_input=np.array(self.X_input_list), + Y_output=np.array(self.Y_output_list), + ) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb new file mode 100644 index 0000000000000..9ddd5fb6fad2a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb @@ -0,0 +1,252 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "85844bd8-91fa-4238-9bcf-cf45c9ef8c33", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore ndimage usecols kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "import numpy as np\n", + "from scipy.spatial.transform import Rotation\n", + "import scipy.interpolate\n", + "from scipy.ndimage import gaussian_filter\n", + "import os\n", + "import matplotlib.pyplot as plt\n", + "import csv\n", + "def yaw_transform(raw_yaw):\n", + " transformed_yaw = np.zeros(raw_yaw.shape)\n", + " transformed_yaw[0] = raw_yaw[0]\n", + " for i in range(raw_yaw.shape[0]-1):\n", + " rotate_num = (raw_yaw[i+1]-transformed_yaw[i])//(2*np.pi)\n", + " if raw_yaw[i+1]-transformed_yaw[i] - 2*rotate_num*np.pi < np.pi:\n", + " transformed_yaw[i+1] = raw_yaw[i+1] - 2*rotate_num*np.pi\n", + " else:\n", + " transformed_yaw[i+1] = raw_yaw[i+1] - 2*(rotate_num+1)*np.pi\n", + " return transformed_yaw\n", + "def steer_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.025,0.025] ):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " vehicle_steer = np.loadtxt(dir_name+\"/steering_status.csv\",delimiter=',',usecols=[0,1,2])\n", + " steer = vehicle_steer[:,2]\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1,4,9])\n", + " steer_des = control_cmd[:,2]\n", + " plt.plot(control_cmd[:,0] + 1e-9*control_cmd[:,1],steer_des,label=\"proxima_input\")\n", + " plt.plot(vehicle_steer[:,0] + 1e-9*vehicle_steer[:,1],steer,label=\"observed\")\n", + " \"\"\"\n", + " operation_mode = np.loadtxt(dir_name + \"/system_operation_mode_state.csv\", delimiter=\",\", usecols=[0, 1, 2])\n", + " operation_mode_time = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_time[::2] = operation_mode[:,0] + 1e-9*operation_mode[:,1]\n", + " operation_mode_time[1::2][:-1] = operation_mode_time[2::2]-1e-16\n", + " operation_mode_time[-1] = start_time+total_time_default\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autoware_control_enabled_str=np.array([row[3] for row in reader])\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autonomous_mode_available_str=np.array([row[6] for row in reader])\n", + " autoware_control_enabled = np.zeros(2*operation_mode.shape[0])\n", + " autonomous_mode_available = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_ = np.ones(2*operation_mode.shape[0])\n", + " for i in range(operation_mode.shape[0]):\n", + " if autoware_control_enabled_str[i] == \"True\":\n", + " autoware_control_enabled[2*i] = 1\n", + " autoware_control_enabled[2*i+1] = 1\n", + "\n", + " if operation_mode[i,2] > 1.5:\n", + " operation_mode_[2*i] = 2.0\n", + " operation_mode_[2*i+1] = 2.0\n", + " \"\"\"\n", + " # plt.plot(operation_mode_time,0.01*operation_mode_,label=\"operation_mode\")\n", + " # plt.plot(operation_mode_time,0.01*autoware_control_enabled,label=\"autoware_control_enabled\")\n", + "\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"steer [rad]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def acc_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.005,0.02] ):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " loc_acc = np.loadtxt(dir_name + \"/acceleration.csv\", delimiter=\",\", usecols=[0, 1, 3])\n", + " acc = loc_acc[:,2]\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1,4,9])\n", + " acc_des = control_cmd[:,3]\n", + " plt.plot(control_cmd[:,0] + 1e-9*control_cmd[:,1],acc_des,label=\"proxima_input\")\n", + " plt.plot(loc_acc[:,0] + 1e-9*loc_acc[:,1],acc,label=\"observed\")\n", + " \"\"\"\n", + " goal_stop_mode = np.loadtxt(dir_name + \"/debug_mpc_goal_stop_mode.csv\", delimiter=\",\",usecols=[0,1])\n", + "\n", + " with open(dir_name+\"/debug_mpc_goal_stop_mode.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " stop_mode_str=np.array([row[2] for row in reader])\n", + "\n", + " stop_mode = np.zeros(goal_stop_mode.shape[0])\n", + " for i in range(goal_stop_mode.shape[0]):\n", + " if stop_mode_str[i] == \"True\":\n", + " stop_mode[i] = 1\n", + " plt.plot(goal_stop_mode[:,0] + 1e-9*goal_stop_mode[:,1],stop_mode,label=\"stop_mode\")\n", + " operation_mode = np.loadtxt(dir_name + \"/system_operation_mode_state.csv\", delimiter=\",\", usecols=[0, 1, 2])\n", + " operation_mode_time = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_time[::2] = operation_mode[:,0] + 1e-9*operation_mode[:,1]\n", + " operation_mode_time[1::2][:-1] = operation_mode_time[2::2]-1e-16\n", + " operation_mode_time[-1] = start_time+total_time_default\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autoware_control_enabled_str=np.array([row[3] for row in reader])\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autonomous_mode_available_str=np.array([row[6] for row in reader])\n", + " autoware_control_enabled = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_ = np.ones(2*operation_mode.shape[0])\n", + " for i in range(operation_mode.shape[0]):\n", + " if autoware_control_enabled_str[i] == \"True\":\n", + " autoware_control_enabled[2*i] = 1\n", + " autoware_control_enabled[2*i+1] = 1\n", + "\n", + " if operation_mode[i,2] > 1.5:\n", + " operation_mode_[2*i] = 2.0\n", + " operation_mode_[2*i+1] = 2.0\n", + " \"\"\"\n", + " # plt.plot(operation_mode_time,operation_mode_,label=\"operation_mode\")\n", + " # plt.plot(operation_mode_time,autoware_control_enabled,label=\"autoware_control_enabled\")\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"acc [m/s^2]\")\n", + " plt.xlabel(\"Time [s]\")\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def yaw_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.15,0.0]):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " raw_yaw = Rotation.from_quat(kinematic[:,4:8]).as_euler(\"xyz\")[:,2]\n", + " yaw = yaw_transform(raw_yaw)\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " plt.plot(kinematic[:,0] + 1e-9*kinematic[:,1],yaw,label=\"observed\")\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"yaw [rad]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def vel_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.1,12.0]):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " vel = kinematic[:,8]\n", + " mpc_v_des=np.loadtxt(dir_name+\"/debug_mpc_v_des.csv\",delimiter=',',usecols=[0,1,3])\n", + " vel_des = mpc_v_des[:,2]\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " plt.plot(kinematic[:,0] + 1e-9*kinematic[:,1],vel,label=\"observed\")\n", + " plt.plot(mpc_v_des[:,0] + 1e-9*mpc_v_des[:,1],vel_des,label=\"des\")\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"vel [m/s]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def lateral_error_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.25,0.25],title=None):\n", + " lateral_error = np.loadtxt(dir_name+\"/lateral_error.csv\",delimiter=',')\n", + " start_time= lateral_error[0,0]+1e-9*lateral_error[0,1]\n", + " total_time_default=lateral_error[-1,0]+1e-9*lateral_error[-1,1]-start_time\n", + " plt.plot(lateral_error[:,0] + 1e-9*lateral_error[:,1],lateral_error[:,2],label=\"lateral_error\")\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.legend()\n", + " plt.ylim(ylim)\n", + " plt.ylabel(\"lateral_error [m]\")\n", + " plt.xlabel(\"Time [s]\")\n", + " if title is not None:\n", + " plt.title(title)\n", + " plt.savefig(\"lateral_error_\"+title+\".png\")\n", + " plt.show()\n", + "def computation_time_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.05,0.5]):\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1])\n", + " cmd_time_stamp = control_cmd[:,0]+1e-9*control_cmd[:,1]\n", + " cmd_time_stamp_diff = cmd_time_stamp[1:] - cmd_time_stamp[:-1]\n", + " calc_u_opt_time = np.loadtxt(dir_name+\"/debug_mpc_calc_u_opt_time.csv\",delimiter=',')\n", + " total_ctrl_time = np.loadtxt(dir_name+\"/debug_mpc_total_ctrl_time.csv\",delimiter=',')\n", + " start_time= control_cmd[0,0]+1e-9*control_cmd[0,1]\n", + " total_time_default=control_cmd[-1,0]+1e-9*control_cmd[-1,1]-start_time\n", + "\n", + " plt.plot(cmd_time_stamp[1:],cmd_time_stamp_diff,label=\"/control/trajectory_follower/control_cmd publish_interval\")\n", + " plt.plot(total_ctrl_time[:,0] + 1e-9*total_ctrl_time[:,1],total_ctrl_time[:,2],label=\"total_ctrl_time\")\n", + " plt.plot(calc_u_opt_time[:,0] + 1e-9*calc_u_opt_time[:,1],calc_u_opt_time[:,2],label=\"calc_u_opt_time\")\n", + " plt.legend()\n", + " plt.ylim(ylim)\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.xlabel(\"Time [s]\")\n", + " plt.ylabel(\"Processing Time [s]\")\n", + " plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b07ed62c-a5b0-4c5f-b52d-633b0c61271b", + "metadata": {}, + "outputs": [], + "source": [ + "dirname = #specify rosbag dir\n", + "steer_visualize(20,20,dirname,ylim=[-0.05,0.05])\n", + "lateral_error_visualize(0,None,dirname,ylim=[-0.6,0.6])\n", + "vel_visualize(20,20,dirname,ylim=[-0.6,12.0])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "f7012be5-0259-4618-a380-8ec7a29f59af", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb new file mode 100644 index 0000000000000..c2955883d5699 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb @@ -0,0 +1,77 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "c445f7e1-6d75-405d-be86-1b9c8f9eaae3", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "import train_drive_NN_model" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "dc7aa5b8-15fa-4ad0-a776-664748a747ac", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer = train_drive_NN_model.train_drive_NN_model()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "6559bc06-d55d-4230-a640-e1730e333df3", + "metadata": {}, + "outputs": [], + "source": [ + "load_dir = #specify rosbag dir\n", + "model_trainer.add_data_from_csv(load_dir)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "bdcd80a2-6484-4957-a34c-3ed193cc10e2", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer.get_trained_model(use_polynomial_reg=False)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "dc4c2c45-60b1-4ff7-996b-4f1f60305f97", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer.save_models()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash new file mode 100644 index 0000000000000..524dfe5a169df --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash @@ -0,0 +1,40 @@ +#!/bin/bash + +gnome-terminal -- bash -c 'ros2 topic echo /localization/kinematic_state nav_msgs/msg/Odometry --csv --qos-history keep_all --qos-reliability reliable > kinematic_state.csv' +gnome-terminal -- bash -c 'ros2 topic echo /localization/acceleration geometry_msgs/msg/AccelWithCovarianceStamped --csv --qos-history keep_all --qos-reliability reliable > acceleration.csv' +gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/steering_status autoware_auto_vehicle_msgs/msg/SteeringReport --csv --qos-history keep_all --qos-reliability reliable > steering_status.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /control/command/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand --csv --qos-history keep_all --qos-reliability reliable > control_cmd.csv' +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand --csv --qos-history keep_all --qos-reliability reliable > control_cmd_orig.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv' +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState --csv --qos-history keep_all --qos-reliability reliable > system_operation_mode_state.csv' +gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/control_mode autoware_auto_vehicle_msgs/msg/ControlModeReport --csv --qos-history keep_all --qos-reliability reliable > vehicle_status_control_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /sensing/imu/imu_data sensor_msgs/msg/Imu --csv --qos-history keep_all --qos-reliability reliable > imu.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv' + +# wait a moment to open new terminals converting rosbag2 to csv +sleep 8 + +ros2 bag play rosbag2_*.db3 -r 10 + +sleep 3 + +# kill terminals converting rosbag2 to csv +pgrep -f "\ --csv\ --qos-history\ keep_all\ --qos-reliability\ reliable" | xargs kill -9 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py new file mode 100644 index 0000000000000..914ed7b53c6ec --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py @@ -0,0 +1,88 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore lengthscale savez + +import GPy +import numpy as np +from smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv + + +class train_drive_GP_model(add_training_data_from_csv.add_data_from_csv): + """Class for training the Gaussian process from driving data.""" + + def __init__(self): + super(train_drive_GP_model, self).__init__() + + def get_optimized_GP(self, i, save_name, inducting_num=100): + """Train Gaussian processes and save the information needed for vehicle control.""" + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + induction_index = np.random.choice(X_input.shape[0], inducting_num, replace=False) + kernel = GPy.kern.RBF(input_dim=X_input.shape[1], ARD=True) + m = GPy.models.SparseGPRegression( + X_input, Y_output[:, [i]], kernel, Z=X_input[induction_index] + ) + m.optimize() + theta_1 = kernel.variance[0] + theta_2 = 1 / np.array(np.array(kernel.lengthscale) ** 2) + Z_post = np.array(m.inducing_inputs) + + K_MM = kernel.K(Z_post, Z_post) + K_MN = kernel.K(Z_post, X_input) + K_MM_inv = np.linalg.inv(K_MM) + Lam_with_noise_inv = np.zeros(K_MN.shape[1]) + for n in range(K_MN.shape[1]): + Lam_with_noise_inv[n] = 1 / ( + kernel.variance + - np.dot(K_MM_inv @ K_MN[:, n], K_MN[:, n]) + + m.Gaussian_noise.variance + ) + Q_MM = K_MM + K_MN @ np.diag(Lam_with_noise_inv) @ K_MN.T + Q_MM_inv = np.linalg.inv(Q_MM) + U = K_MM @ Q_MM_inv @ K_MN @ (np.diag(Lam_with_noise_inv) @ Y_output[:, 4]) + K_MM_invUT = (K_MM_inv @ U).T + + np.savez( + save_name, + theta_1=theta_1, + theta_2=theta_2, + Z=Z_post, + mean_mtr=K_MM_invUT, + cov_mtr=K_MM_inv - Q_MM_inv, + ) + + def get_optimized_GP_x(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the longitudinal position.""" + self.get_optimized_GP(0, dir_name + "/GP_x_info", inducting_num) + + def get_optimized_GP_y(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the lateral position.""" + self.get_optimized_GP(1, dir_name + "/GP_y_info", inducting_num) + + def get_optimized_GP_v(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the velocity.""" + self.get_optimized_GP(2, dir_name + "/GP_v_info", inducting_num) + + def get_optimized_GP_theta(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the yaw angle.""" + self.get_optimized_GP(3, dir_name + "/GP_theta_info", inducting_num) + + def get_optimized_GP_acc(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the acceleration.""" + self.get_optimized_GP(4, dir_name + "/GP_acc_info", inducting_num) + + def get_optimized_GP_steer(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the steering angle.""" + self.get_optimized_GP(5, dir_name + "/GP_steer_info", inducting_num) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py new file mode 100644 index 0000000000000..269b577f83c25 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py @@ -0,0 +1,716 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore optim savez suptitle + +"""Class for training neural nets from driving data.""" +import matplotlib.pyplot as plt +import numpy as np +from sklearn import linear_model +from sklearn.preprocessing import PolynomialFeatures +from smart_mpc_trajectory_follower.scripts import drive_NN +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv +import torch +from torch import nn +from torch.utils.data import DataLoader +from torch.utils.data import TensorDataset + +ctrl_index_for_polynomial_reg = np.concatenate( + ( + np.arange(3), + [3 + drive_functions.acc_delay_step], + [3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_delay_step], + ) +) + + +def nominal_model_acc(v: float, alpha_0: float, alpha: float) -> np.ndarray: + """Predicted acceleration value according to the nominal model.""" + nominal_pred = alpha_0 + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + return np.array([nominal_v, nominal_pred]) + + +def nominal_model_steer(delta_0: float, delta: float) -> float: + """Predicted steer angle according to the nominal model.""" + nominal_pred = delta_0 + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + return nominal_pred + + +class train_drive_NN_model(add_training_data_from_csv.add_data_from_csv): + """Class for training neural nets from driving data.""" + + tanh_gain: float + """Gain of tanh in the NN cost function""" + + lam: float + """Weights of the tanh term in the NN cost function.""" + + tol: float + """Tolerances for terminating training iterations.""" + + alpha_1: float + """L¹ regularization weights in the NN cost function""" + + alpha_2: float + """L² regularization weights in the NN cost function.""" + + alpha_1_for_polynomial_regression: float + """L¹ regularization weights for polynomial regression""" + + alpha_2_for_polynomial_regression: float + """L² regularization weights for polynomial regression""" + + x_loss: list[float] + """List of values for the loss function of the x component in the NN training.""" + + y_loss: list[float] + """List of values for the loss function of the y component in the NN training.""" + + v_loss: list[float] + """List of values for the loss function of the velocity component in the NN training.""" + + theta_loss: list[float] + """List of values for the loss function of the yaw angle component in the NN training.""" + + acc_loss: list[float] + """List of values for the loss function of the acceleration component in the NN training.""" + + steer_loss: list[float] + """List of values for the loss function of the steer angle component in the NN training.""" + + steer_loss_plus_tanh: list[float] + """List of values of the loss function for the steer angle component with tanh term in the NN training.""" + + total_loss: list[float] + """In NN training x_loss, ... , acc_loss, steer_loss_plus_tanh summed list of values""" + + model: drive_NN.DriveNeuralNetwork + """trained neural network model""" + + A: np.ndarray + """Coefficient matrix of polynomial regression model.""" + + b: np.ndarray + """Constant terms in polynomial regression models (bias)""" + + def __init__( + self, + tanh_gain=10, + lam=0.1, + tol=0.00001, + alpha_1=0.1**7, + alpha_2=0.1**7, + alpha_1_for_polynomial_regression=0.1**5, + alpha_2_for_polynomial_regression=0.1**5, + ): + super(train_drive_NN_model, self).__init__() + self.tanh_gain = tanh_gain + self.lam = lam + self.tol = tol + self.alpha_1 = alpha_1 + self.alpha_2 = alpha_2 + self.alpha_1_for_polynomial_regression = alpha_1_for_polynomial_regression + self.alpha_2_for_polynomial_regression = alpha_2_for_polynomial_regression + self.x_loss = [] + self.y_loss = [] + self.v_loss = [] + self.theta_loss = [] + self.acc_loss = [] + self.steer_loss = [] + self.steer_loss_plus_tanh = [] + self.total_loss = [] + + def train_model( + self, + model: drive_NN.DriveNeuralNetwork, + X_input: np.ndarray, + Y_output: np.ndarray, + learning_rates: list[float], + patience: int = 10, + batch_size: int | None = 50, + max_iter: int = 100000, + ) -> None: + """Train the model.""" + if batch_size is None: + batch_size = X_input.shape[0] // 50 + self.x_loss.clear() + self.y_loss.clear() + self.v_loss.clear() + self.theta_loss.clear() + self.acc_loss.clear() + self.steer_loss.clear() + self.steer_loss_plus_tanh.clear() + self.total_loss.clear() + sample_size = X_input.shape[0] + num_train = int(3 * sample_size / 4) + id_all = np.random.choice(sample_size, sample_size, replace=False) + id_train = id_all[:num_train] + id_val = id_all[num_train:] + X_tensor = torch.tensor(X_input.astype(np.float32)).clone() + Y_tensor = torch.tensor(Y_output.astype(np.float32)).clone() + X_train = X_tensor[id_train] + Y_train = Y_tensor[id_train] + X_val = X_tensor[id_val] + Y_val = Y_tensor[id_val] + + print("sample_size: ", X_input.shape[0]) + print("patience:", patience) + loss_fn = torch.nn.L1Loss() + learning_rate = learning_rates[0] + optimizer = torch.optim.Adam(params=model.parameters(), lr=learning_rate) + + drive_data = DataLoader( + TensorDataset(X_train, Y_train), batch_size=batch_size, shuffle=True + ) + initial_loss = drive_NN.loss_fn_plus_tanh( + loss_fn, + torch.tensor(np.zeros(Y_val.shape), dtype=torch.float32), + Y_val, + self.tanh_gain, + self.lam, + ) + print("initial_loss:", initial_loss.detach().item()) + early_stopping = drive_NN.EarlyStopping( + initial_loss=initial_loss, tol=self.tol, patience=patience + ) + k = 0 + print("learning_rate:", learning_rates[0]) + for i in range(max_iter): + model.train() + for X_batch, y_batch in drive_data: + y_pred = model(X_batch) + loss = drive_NN.loss_fn_plus_tanh( + loss_fn, y_pred, y_batch, self.tanh_gain, self.lam + ) + for w in model.parameters(): + loss = ( + loss + self.alpha_1 * torch.norm(w, p=1) + self.alpha_2 * torch.norm(w) ** 2 + ) + optimizer.zero_grad() + loss.backward() + optimizer.step() + + model.eval() + pred = model(X_val) + self.total_loss.append( + drive_NN.loss_fn_plus_tanh(loss_fn, pred, Y_val, self.tanh_gain, self.lam) + .detach() + .item() + ) + self.x_loss.append(loss_fn(pred[:, [0]], Y_val[:, [0]]).detach().item()) + self.y_loss.append(loss_fn(pred[:, [1]], Y_val[:, [1]]).detach().item()) + self.v_loss.append(loss_fn(pred[:, [2]], Y_val[:, [2]]).detach().item()) + self.theta_loss.append(loss_fn(pred[:, [3]], Y_val[:, [3]]).detach().item()) + self.acc_loss.append(loss_fn(pred[:, [4]], Y_val[:, [4]]).detach().item()) + self.steer_loss.append(loss_fn(pred[:, [5]], Y_val[:, [5]]).detach().item()) + self.steer_loss_plus_tanh.append( + loss_fn(pred[:, [5]], Y_val[:, [5]]).detach().item() + + self.lam + * loss_fn( + torch.tanh(self.tanh_gain * (pred[:, -1] - Y_val[:, -1])), + torch.zeros(Y_val.shape[0]), + ) + .detach() + .item() + ) + if i % 10 == 1: + current_loss = drive_NN.loss_fn_plus_tanh( + loss_fn, model(X_val), Y_val, self.tanh_gain, self.lam + ) + print(current_loss.detach().item(), i) + if early_stopping(current_loss): + k += 1 + if k == len(learning_rates): + break + else: + learning_rate = learning_rates[k] + print("update learning_rate to ", learning_rates[k]) + optimizer = torch.optim.Adam(params=model.parameters(), lr=learning_rate) + early_stopping = drive_NN.EarlyStopping( + initial_loss=initial_loss, tol=self.tol, patience=patience + ) + + def get_polynomial_regression_result( + self, + X_input_list: list[np.ndarray], + Y_output_list: list[np.ndarray], + use_polynomial_reg: bool, + use_selected_polynomial: bool, + deg: int, + fit_intercept: bool, + use_intercept: bool, + ) -> tuple[np.ndarray, np.ndarray]: + """Get the results of a polynomial regression.""" + X_input = np.array(X_input_list) + X_input_core = X_input[ + :, + : 3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size_core, + ].copy() + Y_output = np.array(Y_output_list) + if use_selected_polynomial: + self.deg = 2 + else: + self.deg = deg + self.A, self.b, Y_output_minus = polynomial_regression( + X_input_core, + Y_output, + self.alpha_1_for_polynomial_regression, + self.alpha_2_for_polynomial_regression, + use_polynomial_reg, + use_selected_polynomial, + self.deg, + fit_intercept, + use_intercept, + ) + return X_input, Y_output_minus + + def plot_trained_result( + self, show_flag=False, save_dir=".", plot_range=np.arange(500, 1200) + ) -> None: + """Plot the results of the training.""" + polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + X_tensor = torch.tensor(X_input.astype(np.float32)).clone() + acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size + steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size + ctrl_time_step = drive_functions.ctrl_time_step + Y_pred = ( + self.model(X_tensor).detach().numpy() + + polynomial_features.fit_transform(X_input[:, ctrl_index_for_polynomial_reg]) + @ (self.A).T + + self.b + ) + x = max(acc_ctrl_queue_size, steer_ctrl_queue_size) * ctrl_time_step + y_labels = [ + "x_error [m]", + "y_error [m]", + "vel_error [m/s]", + "yaw_error [rad]", + "acc_error [m/s^2]", + "steer_error [rad]", + ] + + plt.figure(figsize=(24, 15), tight_layout=True) + plt.subplot(231) + ax = [] + for i in range(6): + ax.append(plt.subplot(2, 3, i + 1)) + ax[-1].plot( + drive_functions.ctrl_time_step * plot_range + x, + Y_output[plot_range, i] * drive_functions.mpc_time_step, + label="nominal_error", + ) + ax[-1].plot( + drive_functions.ctrl_time_step * plot_range + x, + Y_pred[plot_range, i] * drive_functions.mpc_time_step, + label="pred_error", + ) + ax[-1].set_xlabel("sec") + ax[-1].set_ylabel(y_labels[i]) + ax[-1].legend() + if show_flag: + plt.show() + else: + plt.savefig(save_dir + "/train_drive_NN_model_fig.png") + plt.close() + + def plot_loss(self, show_flag=False, save_dir=".") -> None: + """Plot the progression of values of the loss function of the training.""" + plt.figure(figsize=(24, 15), tight_layout=True) + + y_loss_labels = [ + "total_loss", + "x_loss", + "y_loss", + "vel_loss", + "yaw_loss", + "acc_loss", + "steer_loss", + "steer_plus_tanh_loss", + ] + plt.subplot(241) + ax_2 = [] + loss_list = [ + np.array(self.total_loss), + np.array(self.x_loss), + np.array(self.y_loss), + np.array(self.v_loss), + np.array(self.theta_loss), + np.array(self.acc_loss), + np.array(self.steer_loss), + np.array(self.steer_loss_plus_tanh), + ] + for i in range(8): + ax_2.append(plt.subplot(2, 4, i + 1)) + ax_2[-1].plot( + np.arange(loss_list[i].shape[0]), + loss_list[i], + label="loss", + ) + ax_2[-1].set_xlabel("iteration") + ax_2[-1].set_ylabel(y_loss_labels[i]) + ax_2[-1].legend() + if show_flag: + plt.show() + else: + plt.savefig(save_dir + "/loss.png") + plt.close() + + def get_trained_model( + self, + learning_rates: list[float] = [1e-3, 1e-4, 1e-5, 1e-6], + randomize=0.01, + acc_drop_out=0.0, + steer_drop_out=0.0, + patience: int = 10, + batch_size: int | None = 50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ): + """Train on a model for which initial values are randomly given in a suitable range.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + self.model = drive_NN.DriveNeuralNetwork( + randomize=randomize, + acc_drop_out=acc_drop_out, + steer_drop_out=steer_drop_out, + acc_queue_size=drive_functions.acc_ctrl_queue_size, + steer_queue_size=drive_functions.steer_ctrl_queue_size, + ) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def update_trained_model( + self, + learning_rates=[1e-4, 1e-5, 1e-6], + patience=5, + batch_size=50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ): + """Update `self.model` with additional learning.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def update_saved_trained_model( + self, + path="model_for_test_drive.pth", + learning_rates: list[float] = [1e-4, 1e-5, 1e-6], + patience=5, + batch_size: int | None = 50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ) -> None: + """Load the saved model and update the model with additional training.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + self.model = torch.load(path) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def save_model(self, save_dir=".", path="model_for_test_drive.pth") -> None: + """Save trained NN models.""" + torch.save(self.model, save_dir + "/" + path) + + def save_polynomial_reg_info(self, save_dir=".", path="polynomial_reg_info") -> None: + """Save the coefficients and degree of the resulting polynomial regression.""" + np.savez(save_dir + "/" + path, A=self.A, b=self.b, deg=self.deg) + + def save_models( + self, + save_dir=".", + model_name="model_for_test_drive.pth", + polynomial_reg_info_name="polynomial_reg_info", + ) -> None: + """Run save_model and save_polynomial_reg_info.""" + self.save_model(save_dir, model_name) + self.save_polynomial_reg_info(save_dir, polynomial_reg_info_name) + + def predict_error( + self, v: float, alpha_0: float, delta_0: float, alpha: float, delta: float + ) -> np.ndarray: + """Predicts the prediction error when following a nominal model.""" + polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + x_input = np.zeros( + 3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size + ) + x_input[0] = v + x_input[1] = alpha_0 + x_input[2] = delta_0 + x_input[3 : 3 + drive_functions.acc_ctrl_queue_size] += alpha + x_input[3 + drive_functions.acc_ctrl_queue_size :] += delta + x_input_tensor = torch.tensor(x_input.reshape(1, -1).astype(np.float32)) + return ( + self.model(x_input_tensor)[0].detach().numpy() + + self.A + @ polynomial_features.fit_transform( + x_input[ctrl_index_for_polynomial_reg].reshape(1, -1) + )[0] + + self.b + ) + + def sim( + self, v: float, alpha_0: float, alpha: float, delta_0: float, delta: float, iter_times: int + ) -> tuple[float, float, float]: + """Simulate velocity, acceleration and steer changes according to a trained model.""" + v_pred = v + alpha_pred = alpha_0 + delta_pred = delta_0 + for i in range(iter_times): + pred = ( + np.concatenate( + ( + nominal_model_acc(v_pred, alpha_pred, alpha), + np.array([nominal_model_steer(delta_pred, delta)]), + ) + ) + + self.predict_error(v_pred, alpha_pred, delta_pred, alpha, delta)[[2, 4, 5]] + * drive_functions.mpc_time_step + ) + v_pred = pred[0] + alpha_pred = pred[1] + steer_pred = pred[2] + return v_pred, alpha_pred, steer_pred + + def plot_acc_map(self, iter_times: int, starting_steer=0.0, target_steer=0.0) -> None: + """Run `sim` `iter_times` times. The simulation time is approximately 0.1*iter_times. + + Draw the resulting acceleration map. + """ + acc = np.arange(-1, 1, 0.05) + v_tests = np.arange(0, 12, 0.3) + acc_result = np.zeros((acc.shape[0], v_tests.shape[0])) + v_result = np.zeros((acc.shape[0], v_tests.shape[0])) + steer_result = np.zeros((acc.shape[0], v_tests.shape[0])) + for i in range(acc.shape[0]): + v_tests_tmp = v_tests - 0.1 * iter_times * acc[i] + for j in range(v_tests.shape[0]): + v_result[i, j], acc_result[i, j], steer_result[i, j] = self.sim( + v_tests_tmp[j], acc[i], acc[i], starting_steer, target_steer, iter_times + ) + fig = plt.figure() + ax = fig.add_subplot(111, projection="3d") + ax.plot_surface(np.tile(acc, (v_tests.shape[0], 1)).T, v_result, acc_result) + ax.set_xlabel("acc_input [m/s^2]") + ax.set_ylabel("vel [m/s]") + ax.set_zlabel("acc_sim [m/s^2]") + fig.suptitle(str(iter_times * drive_functions.mpc_time_step) + " sec simulation") + plt.show() + + def plot_steer_map(self, iter_times: int, starting_acc=0.0, target_acc=0.0) -> None: + """Run `sim` `iter_times` times. The simulation time is approximately 0.1*iter_times. + + Draw the resulting steer map. + """ + steer = np.arange(-1, 1, 0.05) + v_tests = np.arange(0, 12, 0.3) + acc_result = np.zeros((steer.shape[0], v_tests.shape[0])) + v_result = np.zeros((steer.shape[0], v_tests.shape[0])) + steer_result = np.zeros((steer.shape[0], v_tests.shape[0])) + for i in range(steer.shape[0]): + for j in range(v_tests.shape[0]): + v_result[i, j], acc_result[i, j], steer_result[i, j] = self.sim( + v_tests[j], starting_acc, target_acc, steer[i], steer[i], iter_times + ) + fig = plt.figure() + ax = fig.add_subplot(111, projection="3d") + ax.plot_surface(np.tile(steer, (v_tests.shape[0], 1)).T, v_result, steer_result) + ax.set_xlabel("steer_input [rad]") + ax.set_ylabel("vel [m/s]") + ax.set_zlabel("steer_sim [rad]") + fig.suptitle(str(iter_times * drive_functions.mpc_time_step) + " sec simulation") + plt.show() + + +def polynomial_regression( + X, + Y, + alpha_1, + alpha_2, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, +): + polynomial_features = PolynomialFeatures(degree=deg, include_bias=False) + alpha = alpha_1 + alpha_2 + if use_polynomial_reg: + if use_selected_polynomial: + clf_1 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + clf_2 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + clf_3 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + X_poly = polynomial_features.fit_transform(X[:, ctrl_index_for_polynomial_reg]) + Y_error = Y.copy() + A = np.zeros((Y.shape[1], X_poly.shape[1])) + b = np.zeros(Y.shape[1]) + clf_1.fit(X_poly[:, [0, 7]], Y[:, [3]]) + clf_2.fit(X_poly[:, [1, 3]], Y[:, [4]]) + clf_3.fit(X_poly[:, [2, 4]], Y[:, [5]]) + A[3, [0, 7]] = clf_1.coef_ + A[4, [1, 3]] = clf_2.coef_ + A[5, [2, 4]] = clf_3.coef_ + if fit_intercept: + b[3] = clf_1.intercept_ + b[4] = clf_2.intercept_ + b[5] = clf_3.intercept_ + Y_error[:, 3] -= clf_1.predict(X_poly[:, [0, 7]]) + Y_error[:, 4] -= clf_2.predict(X_poly[:, [1, 3]]) + Y_error[:, 5] -= clf_3.predict(X_poly[:, [2, 4]]) + if not use_intercept: + Y_error += b + b = 0 * b + return A, b, Y_error + else: + clf = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + X_poly = polynomial_features.fit_transform(X[:, ctrl_index_for_polynomial_reg]) + clf.fit(X_poly, Y) + if fit_intercept: + if use_intercept: + return ( + clf.coef_, + clf.intercept_, + Y - clf.predict(X_poly), + ) + else: + return ( + clf.coef_, + 0 * clf.intercept_, + Y - clf.predict(X_poly) + clf.intercept_, + ) + else: + return clf.coef_, np.zeros(Y.shape[1]), Y - clf.predict(X_poly) + else: + poly_dim = polynomial_features.fit_transform( + X[0, ctrl_index_for_polynomial_reg].reshape(1, -1) + ).shape[1] + return np.zeros((Y.shape[1], poly_dim)), np.zeros(Y.shape[1]), Y diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 2ef2e07367f81..77140b0e0f630 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -24,6 +24,7 @@ from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import Node from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare @@ -65,6 +66,7 @@ def launch_setup(context, *args, **kwargs): aeb_param = yaml.safe_load(f)["/**"]["ros__parameters"] with open(LaunchConfiguration("predicted_path_checker_param_path").perform(context), "r") as f: predicted_path_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] + trajectory_follower_mode = LaunchConfiguration("trajectory_follower_mode").perform(context) controller_component = ComposableNode( package="trajectory_follower_node", @@ -328,20 +330,40 @@ def launch_setup(context, *args, **kwargs): ) # set container to run all required components in the same process - container = ComposableNodeContainer( - name="control_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - controller_component, - lane_departure_component, - shift_decider_component, - vehicle_cmd_gate_component, - operation_mode_transition_manager_component, - glog_component, - ], - ) + if trajectory_follower_mode == "trajectory_follower_node": + container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + controller_component, + lane_departure_component, + shift_decider_component, + vehicle_cmd_gate_component, + operation_mode_transition_manager_component, + glog_component, + ], + ) + + elif trajectory_follower_mode == "smart_mpc_trajectory_follower": + container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + lane_departure_component, + shift_decider_component, + vehicle_cmd_gate_component, + operation_mode_transition_manager_component, + glog_component, + ], + ) + else: + raise Exception( + f"The argument trajectory_follower_mode must be either trajectory_follower_node or smart_mpc_trajectory_follower, but {trajectory_follower_mode} was given." + ) # control evaluator control_evaluator_component = ComposableNode( @@ -408,7 +430,16 @@ def launch_setup(context, *args, **kwargs): ), ] ) - return [group, control_validator_group] + + smart_mpc_trajectory_follower = Node( + package="smart_mpc_trajectory_follower", + executable="pympc_trajectory_follower.py", + name="pympc_trajectory_follower", + ) + if trajectory_follower_mode == "trajectory_follower_node": + return [group, control_validator_group] + elif trajectory_follower_mode == "smart_mpc_trajectory_follower": + return [group, control_validator_group, smart_mpc_trajectory_follower] def generate_launch_description(): @@ -447,11 +478,17 @@ def add_launch_arg(name: str, default_value=None, description=None): # component add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "true", "use multithread") + add_launch_arg( + "trajectory_follower_mode", + "trajectory_follower_node", + "Options for which trajectory_follower to use. Options: `trajectory_follower_node`, `smart_mpc_trajectory_follower`", + ) set_container_executable = SetLaunchConfiguration( "container_executable", "component_container", condition=UnlessCondition(LaunchConfiguration("use_multithread")), ) + set_container_mt_executable = SetLaunchConfiguration( "container_executable", "component_container_mt",