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Controls - Longitudinal Tuning - Smoother Braking

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Smoothen out the braking behavior when approaching slower vehicles.
This commit is contained in:
FrogAi 2024-05-26 23:14:06 -07:00
parent 51776c2e14
commit b55b128677
1 changed files with 9 additions and 3 deletions
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12
selfdrive/frogpilot/controls/frogpilot_planner.py
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@ -134,10 +134,16 @@ class FrogPilotPlanner:
self.t_follow /= acceleration_offset self.t_follow /= acceleration_offset
# Offset by FrogAi for FrogPilot for a more natural approach to a slower lead # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
if frogpilot_toggles.conditional_experimental_mode and v_lead < v_ego: if (frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.smoother_braking) and v_lead < v_ego:
distance_factor = max(lead_distance - (v_lead * self.t_follow), 1) distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
braking_offset = np.clip((v_ego - v_lead) - COMFORT_BRAKE, 1, distance_factor) far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stopping_distance + (v_lead - CITY_SPEED_LIMIT), 0) if frogpilot_toggles.smoother_braking_far_lead else 0
self.slower_lead = max(braking_offset, 1) > 1 braking_offset = np.clip((v_ego - v_lead) + far_lead_offset - COMFORT_BRAKE, 1, distance_factor)
if frogpilot_toggles.smoother_braking:
if frogpilot_toggles.smoother_braking_jerk:
self.acceleration_jerk = self.base_acceleration_jerk * min(braking_offset, COMFORT_BRAKE / 2)
self.speed_jerk = self.base_speed_jerk * min(braking_offset, COMFORT_BRAKE * 2)
self.t_follow /= braking_offset
self.slower_lead = max(braking_offset - far_lead_offset, 1) > 1
def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego, frogpilot_toggles): def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego, frogpilot_toggles):
v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS