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Controls - Longitudinal Tuning - Increase Acceleration Behind Lead

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Increase aggressiveness when following a faster lead.
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FrogAi 2024-05-24 02:50:28 -07:00
parent 2a5726a2e0
commit f37f6ecd4e
1 changed files with 14 additions and 0 deletions
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14
selfdrive/frogpilot/controls/frogpilot_planner.py
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@ -117,6 +117,20 @@ class FrogPilotPlanner:
self.frame += 1 self.frame += 1
def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles): def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
# Offset by FrogAi for FrogPilot for a more natural approach to a faster lead
if frogpilot_toggles.aggressive_acceleration_experimental and v_lead > v_ego:
distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
standstill_offset = max(stopping_distance - v_ego, 0) * max(v_lead - v_ego, 0)
acceleration_offset = np.clip((v_lead - v_ego) + standstill_offset - COMFORT_BRAKE, 1, distance_factor)
self.acceleration_jerk = self.base_acceleration_jerk / acceleration_offset
self.speed_jerk = self.base_speed_jerk / acceleration_offset
self.t_follow /= acceleration_offset
elif frogpilot_toggles.aggressive_acceleration and v_lead > v_ego:
distance_factor = np.maximum(lead_distance - (v_lead * self.t_follow), 1)
standstill_offset = max(STOP_DISTANCE - (v_ego**COMFORT_BRAKE), 0)
acceleration_offset = np.clip((v_lead - v_ego) + standstill_offset - COMFORT_BRAKE, 1, distance_factor)
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 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)