zhudongjer/carrot
1
1
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Controls - Longitudinal Tuning - Deceleration Profile

Browse Source 
Change the deceleration rate to be either sporty or eco-friendly.
This commit is contained in:
FrogAi 2024-05-24 02:43:03 -07:00
parent 856c3c4214
commit 2a5726a2e0
2 changed files with 21 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/controls/lib/longitudinal_planner.py
View File

@ -99,7 +99,7 @@ class LongitudinalPlanner:
# No change cost when user is controlling the speed, or when standstill # No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill) prev_accel_constraint = not (reset_state or sm['carState'].standstill)
accel_limits = [A_CRUISE_MIN, sm['frogpilotPlan'].maxAcceleration] accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration]
if self.mpc.mode == 'acc': if self.mpc.mode == 'acc':
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
else: else:

20
selfdrive/frogpilot/controls/frogpilot_planner.py
View File

@ -21,16 +21,26 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_
GearShifter = car.CarState.GearShifter GearShifter = car.CarState.GearShifter
# Acceleration profiles - Credit goes to the DragonPilot team! # Acceleration profiles - Credit goes to the DragonPilot team!
# MPH = [0., 18, 36, 63, 94]
A_CRUISE_MIN_BP_CUSTOM = [0., 8., 16., 28., 42.]
# MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 89.5] # MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 89.5]
A_CRUISE_MAX_BP_CUSTOM = [0., 3, 6., 8., 11., 15., 20., 25., 40.] A_CRUISE_MAX_BP_CUSTOM = [0., 3, 6., 8., 11., 15., 20., 25., 40.]
A_CRUISE_MIN_VALS_ECO = [-0.001, -0.010, -0.28, -0.56, -0.56]
A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30] A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30]
A_CRUISE_MIN_VALS_SPORT = [-0.50, -0.52, -0.55, -0.57, -0.60]
A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, 0.75, 0.65, 0.6] A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, 0.75, 0.65, 0.6]
def get_min_accel_eco(v_ego):
return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_ECO)
def get_max_accel_eco(v_ego): def get_max_accel_eco(v_ego):
return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO) return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
def get_min_accel_sport(v_ego):
return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_SPORT)
def get_max_accel_sport(v_ego): def get_max_accel_sport(v_ego):
return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT) return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
@ -67,6 +77,15 @@ class FrogPilotPlanner:
else: else:
self.max_accel = get_max_accel(v_ego) self.max_accel = get_max_accel(v_ego)
if controlsState.experimentalMode:
self.min_accel = ACCEL_MIN
elif frogpilot_toggles.deceleration_profile == 1:
self.min_accel = get_min_accel_eco(v_ego)
elif frogpilot_toggles.deceleration_profile == 2:
self.min_accel = get_min_accel_sport(v_ego)
else:
self.min_accel = A_CRUISE_MIN
check_lane_width = frogpilot_toggles.lane_detection check_lane_width = frogpilot_toggles.lane_detection
if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
self.lane_width_left = float(calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0])) self.lane_width_left = float(calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]))
@ -130,6 +149,7 @@ class FrogPilotPlanner:
frogpilotPlan.conditionalExperimental = self.cem.experimental_mode frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
frogpilotPlan.maxAcceleration = self.max_accel frogpilotPlan.maxAcceleration = self.max_accel
frogpilotPlan.minAcceleration = self.min_accel
frogpilotPlan.vCruise = float(self.v_cruise) frogpilotPlan.vCruise = float(self.v_cruise)