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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
2024-06-26 01:49:39 -07:00
parent 94fe477eb8
commit 300a07de19
2 changed files with 52 additions and 18 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
Executable → Regular
+39 -16
View File
@@ -57,26 +57,49 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5, 1.0, 0.5
def get_jerk_factor(aggressive_jerk_acceleration=0.5, aggressive_jerk_danger=0.5, aggressive_jerk_speed=0.5,
standard_jerk_acceleration=1.0, standard_jerk_danger=1.0, standard_jerk_speed=1.0,
relaxed_jerk_acceleration=1.0, relaxed_jerk_danger=1.0, relaxed_jerk_speed=1.0,
custom_personalities=False, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_jerk_acceleration, relaxed_jerk_danger, relaxed_jerk_speed
elif personality==log.LongitudinalPersonality.standard:
return standard_jerk_acceleration, standard_jerk_danger, standard_jerk_speed
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_jerk_acceleration, aggressive_jerk_danger, aggressive_jerk_speed
else:
raise NotImplementedError("Longitudinal personality not supported")
else:
raise NotImplementedError("Longitudinal personality not supported")
if personality==log.LongitudinalPersonality.relaxed:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0, 1.0, 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5, 0.5, 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
def get_T_FOLLOW(aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, custom_personalities=False, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_follow
elif personality==log.LongitudinalPersonality.standard:
return standard_follow
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_follow
else:
raise NotImplementedError("Longitudinal personality not supported")
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):
return (v_lead**2) / (2 * COMFORT_BRAKE)
selfdrive/frogpilot/controls/frogpilot_planner.py
+13 -2
View File
@@ -82,8 +82,19 @@ class FrogPilotPlanner:
self.min_accel = A_CRUISE_MIN
def set_follow_values(self, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(controlsState.personality)
self.t_follow = get_T_FOLLOW(controlsState.personality)
self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed,
frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed,
frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed,
frogpilot_toggles.custom_personalities, controlsState.personality
)
self.t_follow = get_T_FOLLOW(
frogpilot_toggles.aggressive_follow,
frogpilot_toggles.standard_follow,
frogpilot_toggles.relaxed_follow,
frogpilot_toggles.custom_personalities, controlsState.personality
)
if self.tracking_lead:
self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)