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Controls - Longitudinal Tuning - Smoother Braking

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Smoothen out the braking behavior when approaching slower vehicles.
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FrogAi
2024-07-19 21:26:10 -07:00
parent 1d2c8a71fd
commit 1c449642c7
1 changed files with 8 additions and 3 deletions
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selfdrive/frogpilot/controls/frogpilot_planner.py
+8 -3
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@@ -156,10 +156,15 @@ class FrogPilotPlanner:
self.t_follow /= acceleration_offset
# Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
if frogpilot_toggles.conditional_slower_lead and v_lead < v_ego:
if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.smoother_braking) and v_lead < v_ego:
distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
braking_offset = clip((v_ego - v_lead) - COMFORT_BRAKE, 1, distance_factor)
self.slower_lead = braking_offset > 1
far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stopping_distance + (v_lead - CITY_SPEED_LIMIT), 0)
braking_offset = clip((v_ego - v_lead) + far_lead_offset - COMFORT_BRAKE, 1, distance_factor)
if frogpilot_toggles.smoother_braking:
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 = braking_offset - far_lead_offset > 1
def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles):
v_cruise_cluster = max(controlsState.vCruiseCluster, v_cruise) * CV.KPH_TO_MS