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Controls - Driving Personalities - Customize Personalities

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Customize the driving personality profiles to your driving style.
This commit is contained in:
FrogAi 2024-05-16 02:59:37 -07:00
parent 805373657e
commit 386f32ef6e
3 changed files with 49 additions and 18 deletions
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53
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py Executable file → Normal file
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@ -58,26 +58,47 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5 COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0 STOP_DISTANCE = 6.0
def get_jerk_factor(personality=log.LongitudinalPersonality.standard): def get_jerk_factor(custom_personalities=False, aggressive_jerk_acceleration=0.5, aggressive_jerk_speed=0.5, standard_jerk_acceleration=1.0, standard_jerk_speed=1.0,
if personality==log.LongitudinalPersonality.relaxed: relaxed_jerk_acceleration=1.0, relaxed_jerk_speed=1.0, personality=log.LongitudinalPersonality.standard):
return 1.0, 1.0 if custom_personalities:
elif personality==log.LongitudinalPersonality.standard: if personality==log.LongitudinalPersonality.relaxed:
return 1.0, 1.0 return relaxed_jerk_acceleration, relaxed_jerk_speed
elif personality==log.LongitudinalPersonality.aggressive: elif personality==log.LongitudinalPersonality.standard:
return 0.5, 0.5 return standard_jerk_acceleration, standard_jerk_speed
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_jerk_acceleration, aggressive_jerk_speed
else:
raise NotImplementedError("Longitudinal personality not supported")
else: else:
raise NotImplementedError("Longitudinal personality not supported") if personality==log.LongitudinalPersonality.relaxed:
return 1.0, 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0, 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5, 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): def get_T_FOLLOW(custom_personalities=False, aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed: if custom_personalities:
return 1.75 if personality==log.LongitudinalPersonality.relaxed:
elif personality==log.LongitudinalPersonality.standard: return relaxed_follow
return 1.45 elif personality==log.LongitudinalPersonality.standard:
elif personality==log.LongitudinalPersonality.aggressive: return standard_follow
return 1.25 elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_follow
else:
raise NotImplementedError("Longitudinal personality not supported")
else: else:
raise NotImplementedError("Longitudinal personality not supported") if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_stopped_equivalence_factor(v_lead): def get_stopped_equivalence_factor(v_lead):
return (v_lead**2) / (2 * COMFORT_BRAKE) return (v_lead**2) / (2 * COMFORT_BRAKE)

9
selfdrive/frogpilot/controls/frogpilot_planner.py
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@ -44,8 +44,13 @@ class FrogPilotPlanner:
lead_distance = self.lead_one.dRel lead_distance = self.lead_one.dRel
self.base_acceleration_jerk, self.base_speed_jerk = get_jerk_factor(controlsState.personality) self.base_acceleration_jerk, self.base_speed_jerk = get_jerk_factor(frogpilot_toggles.custom_personalities,
self.t_follow = get_T_FOLLOW(controlsState.personality) frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_speed,
frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_speed,
frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_speed,
controlsState.personality)
self.t_follow = get_T_FOLLOW(frogpilot_toggles.custom_personalities, frogpilot_toggles.aggressive_follow,
frogpilot_toggles.standard_follow, frogpilot_toggles.relaxed_follow, controlsState.personality)
if self.lead_one.status: if self.lead_one.status:
self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles) self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)

5
selfdrive/frogpilot/ui/qt/offroad/personalities_info.txt Normal file
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@ -0,0 +1,5 @@
Following Distance - Represents openpilot's desired distance from the lead in seconds. Not an exact value in real world terms, but more of a representative value.
Acceleration/Deceleration Response - Increases/decreases the "cost" to accelerate. Increasing the value makes it more "costly" to accelerate/decelerate, so openpilot is more conservative when accelerating/decelerating.
Speed Control Response - Increases/decreases the "cost" to increase/decrease your speed. Increasing the value makes it more "costly" to change speed, so openpilot is more conservative when using the gas/brake pedal.