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VEgoStopping change default: 5 -> 50

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This commit is contained in:
ajouatom 2025-02-26 08:21:50 +09:00
parent 0de773d9d2
commit 84b6944640
5 changed files with 10 additions and 10 deletions
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2
common/params.cc
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@ -286,7 +286,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LongTuningKiV", PERSISTENT},
{"LongTuningKf", PERSISTENT},
{"LongActuatorDelay", PERSISTENT },
{"VegoStopping", PERSISTENT },
{"VEgoStopping", PERSISTENT },
{"RadarReactionFactor", PERSISTENT},
{"EnableRadarTracks", PERSISTENT},
{"EnableRadarTracksResult", PERSISTENT | CLEAR_ON_MANAGER_START},

10
selfdrive/carrot_settings.json
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@ -497,15 +497,15 @@
},
{
"group": "주행튜닝",
"name": "VegoStopping",
"title": "정지출발민감도(5)x0.01",
"name": "VEgoStopping",
"title": "정지출발민감도(50)x0.01",
"descr": "값을 올리면 늦게 출발함, 너무낮추면 추돌위험이 있을수 있음.",
"egroup": "LONG",
"etitle": "VegoStopping(5)x0.01",
"etitle": "VEgoStopping(50)x0.01",
"edescr": "",
"min": 1,
"max": 10,
"default": 20,
"max": 100,
"default": 50,
"unit": 5
},
{

4
selfdrive/controls/lib/longitudinal_planner.py
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@ -217,11 +217,11 @@ class LongitudinalPlanner:
longitudinalPlan.fcw = self.fcw
longitudinalActuatorDelay = Params().get_float("LongActuatorDelay")*0.01
vegoStopping = Params().get_float("VegoStopping") * 0.01
vEgoStopping = Params().get_float("VEgoStopping") * 0.01
action_t = longitudinalActuatorDelay + DT_MDL
a_target, should_stop, v_target, j_target = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels, longitudinalPlan.jerks,
action_t=action_t, vEgoStopping=vegoStopping)
action_t=action_t, vEgoStopping=vEgoStopping)
longitudinalPlan.aTarget = float(a_target)
longitudinalPlan.shouldStop = bool(should_stop)
longitudinalPlan.allowBrake = True

2
selfdrive/ui/qt/offroad/settings.cc
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@ -663,7 +663,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
latLongToggles->addItem(new CValueControl("LongTuningKiV", "LONG: I Gain(200)", "", "../assets/offroad/icon_logic.png", 0, 2000, 5));
latLongToggles->addItem(new CValueControl("LongTuningKf", "LONG: FF Gain(100)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
latLongToggles->addItem(new CValueControl("LongActuatorDelay", "LONG: ActuatorDelay(20)", "", "../assets/offroad/icon_logic.png", 0, 200, 5));
latLongToggles->addItem(new CValueControl("VegoStopping", "LONG: VEgoStopping(5)", "Stopping factor", "../assets/offroad/icon_logic.png", 1, 10, 1));
latLongToggles->addItem(new CValueControl("VEgoStopping", "LONG: VEgoStopping(50)", "Stopping factor", "../assets/offroad/icon_logic.png", 1, 100, 5));
latLongToggles->addItem(new CValueControl("RadarReactionFactor", "LONG: Radar reaction factor(10)", "", "../assets/offroad/icon_logic.png", 0, 200, 10));
//latLongToggles->addItem(new CValueControl("StartAccelApply", "LONG: StartingAccel 2.0x(0)%", "정지->출발시 가속도의 가속율을 지정합니다 0: 사용안함.", "../assets/offroad/icon_road.png", 0, 100, 10));
//latLongToggles->addItem(new CValueControl("StopAccelApply", "LONG: StoppingAccel -2.0x(0)%", "정지유지시 브레이크압을 조정합니다. 0: 사용안함. ", "../assets/offroad/icon_road.png", 0, 100, 10));

2
system/manager/manager.py
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@ -103,7 +103,7 @@ def get_default_params():
("LongTuningKiV", "0"),
("LongTuningKf", "100"),
("LongActuatorDelay", "20"),
("VegoStopping", "5"),
("VEgoStopping", "50"),
("RadarReactionFactor", "10"),
("EnableRadarTracks", "0"),
("HyundaiCameraSCC", "0"),