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firestar5683
2026-07-20 23:22:06 -05:00
parent 2e45e57287
commit 104ae74901
2 changed files with 22 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+4 -2
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@@ -90,7 +90,8 @@ LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_PROB = 0.85
LEAD_DEPART_ACCEL_HOLD_MIN_MODEL_ACCEL = 0.12
LEAD_DEPART_ACCEL_HOLD_MAX_LEAD_BRAKE = 0.2
LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL = 0.25
LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL = 0.45
LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL = 0.55
LEAD_DEPART_ACCEL_ASSIST = 0.10
LEAD_DEPART_ACCEL_HOLD_REUSE_MIN_GAP = 3.75
LEAD_DEPART_ACCEL_HOLD_REUSE_MAX_CLOSING_SPEED = 0.45
LEAD_DEPART_ACCEL_HOLD_REUSE_MAX_LEAD_BRAKE = 0.2
@@ -1418,7 +1419,8 @@ class LongitudinalPlanner:
max(LEAD_DEPART_ACCEL_HOLD_FULL_LEAD_SPEED - LEAD_DEPART_ACCEL_HOLD_MIN_LEAD_SPEED, 0.1), 0.0, 1.0))
accel_cap = LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL + (LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL - LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL) * np.clip(
0.55 * lead_factor + 0.45 * gap_factor, 0.0, 1.0)
return min(accel_cap, max(float(model_desired_accel), LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL))
assisted_model_accel = float(model_desired_accel) + LEAD_DEPART_ACCEL_ASSIST
return min(accel_cap, max(assisted_model_accel, LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL))
def get_reusable_lead_depart_accel_floor(self, lead, v_ego, t_follow):
if self.lead_depart_accel_hold_floor is None or lead is None or not lead.status:
selfdrive/controls/tests/test_longitudinal_planner.py
+18
View File
@@ -1896,6 +1896,24 @@ def test_standstill_moving_lead_holds_depart_accel_floor_after_stop_release(mode
assert outputs[4] >= 0.25
def test_route_251682_rav4_confirmed_depart_adds_bounded_accel_assist():
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
lead = make_lead(
status=True,
d_rel=7.7,
v_lead=2.0,
a_lead=1.79,
radar=False,
model_prob=1.0,
)
floor = planner.get_lead_depart_accel_floor(lead, v_ego=0.0, model_desired_accel=0.44)
assert 0.52 <= floor <= 0.54
assert floor <= longitudinal_planner_module.LEAD_DEPART_ACCEL_HOLD_MAX_ACCEL
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_depart_accel_hold_reuses_floor_through_softening_lead_delta(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)