Struct LatControl 

pub struct LatControl {
    pub ui_steer: f64,
    pub sat_count: f64,
    pub y_des: f64,
    pub lateral_control_sat: bool,
}

Represents lateral control logic.

Fields

ui_steer: f64

Integral term of lateral control.

sat_count: f64

Saturation count for lateral control.

y_des: f64

Desired lateral offset.

lateral_control_sat: bool

Indicates if lateral control is saturated.

Implementations

impl LatControl

pub fn new() -> Self

Creates a new LatControl instance.

Examples

use openpilot::selfdrive::controls::lat_control::LatControl;
let mut lat_control = LatControl::new();

pub fn reset(&mut self)

Resets the integral term of the lateral control.

Examples

use openpilot::selfdrive::controls::lat_control::LatControl;

let mut lat_control = LatControl::new();
lat_control.ui_steer = 0.5;
lat_control.reset();
assert_eq!(lat_control.ui_steer, 0.0);

pub fn update( &mut self, enabled: bool, cs: &CS, d_poly: &Array1<f64>, angle_offset: f64, ) -> (f64, bool)

Updates lateral control based on the control state, polynomial, and angle offset.

Arguments

• enabled - Indicates if lateral control is enabled.
• CS - Control state.
• d_poly - Polynomial coefficients for lateral control.
• angle_offset - Angle offset.

Returns

A tuple containing the final steering output and a flag indicating continuous lateral control saturation.

Examples

use openpilot::selfdrive::controls::lat_control::{LatControl, CS, VP};
use ndarray::prelude::*;

let mut lat_control = LatControl::new();
lat_control.ui_steer = 0.2;

let cs = CS {
    v_ego: 20.0,
    angle_steers: 5.0,
    torque_mod: false,
    steer_override: false,
    vp: VP {
        steer_ratio: 12.0,
        wheelbase: 2.7,
        slip_factor: 0.01,
    },
};

let d_poly = Array1::from(vec![0.1, 0.05, -0.02]);
let angle_offset = 1.0;

let (final_steer, sat_flag) = lat_control.update(true, &cs, &d_poly, angle_offset);

assert!(final_steer <= 1.0 && final_steer >= -1.0); // Asserting final steering within limits
assert!(sat_flag == false); // Asserting no continuous lateral control saturation

Trait Implementations

impl Default for LatControl

fn default() -> Self

Returns the “default value” for a type.