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firestar5683
2026-08-05 16:10:40 -05:00
parent 38abe7704e
commit 2a38c61f10
2 changed files with 9 additions and 8 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+2 -2
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@@ -228,7 +228,7 @@ VISION_SLOW_LEAD_MIN_DECEL = 0.18
VISION_SLOW_LEAD_MIN_MODEL_PROB = 0.9
LEAD_APPROACH_TFOLLOW_TRIGGER_TIME = 4.5
LEAD_APPROACH_TFOLLOW_FULL_TIME = 1.5
LEAD_APPROACH_TFOLLOW_MAX_DELTA = 0.18
LEAD_APPROACH_TFOLLOW_MAX_DELTA = 0.162
LEAD_APPROACH_TFOLLOW_MAX_CLOSING_SPEED = 6.0
LEAD_APPROACH_TFOLLOW_MAX_LEAD_BRAKE = 2.5
LEAD_APPROACH_TFOLLOW_MIN_CLOSING_SPEED = 0.75
@@ -237,7 +237,7 @@ LEAD_APPROACH_TFOLLOW_WINDOW_MIN = 6.0
LEAD_APPROACH_TFOLLOW_WINDOW_GAIN = 0.35
LEAD_APPROACH_TFOLLOW_RATE_UP = 1.0
LEAD_APPROACH_TFOLLOW_RATE_DOWN = 0.60
VISION_LEAD_TFOLLOW_MAX_EXTRA_DELTA = 0.24
VISION_LEAD_TFOLLOW_MAX_EXTRA_DELTA = 0.216
VISION_LEAD_TFOLLOW_SLOW_LEAD_SPEED = 20.0
VISION_LEAD_TFOLLOW_GAP_BUFFER_MIN = 8.0
VISION_LEAD_TFOLLOW_GAP_BUFFER_GAIN = 0.35
starpilot/common/starpilot_variables.py
+7 -6
View File
@@ -54,6 +54,7 @@ DISPLAY_MENU_TIMER = 350 # The length of time the following dis
EARTH_RADIUS = 6378137 # Radius of the Earth in meters
MAX_ACCELERATION = 4.0 # ISO 15622:2018
MAX_T_FOLLOW = 3.0 # Maximum allowed following duration. Larger values risk losing track of the lead but may be increased as models improve
MIN_T_FOLLOW = 0.75 # Minimum configurable base following duration; safety buffers remain applied downstream
MINIMUM_LATERAL_ACCELERATION = 1.3 # m/s^2, typical minimum lateral acceleration when taking curves
PLANNER_TIME = ModelConstants.T_IDXS[-1] # Length of time the model projects out for
THRESHOLD = 1 - 1 / math.e # Requires the condition to be true for ~1 second
@@ -855,24 +856,24 @@ class StarPilotVariables:
toggle.aggressive_jerk_danger = self.get_value("AggressiveJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.aggressive_jerk_speed = self.get_value("AggressiveJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.aggressive_jerk_speed_decrease = self.get_value("AggressiveJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
aggressive_follow_low = float(self.get_value("AggressiveFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
aggressive_follow_high = float(self.get_value("AggressiveFollowHigh", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
aggressive_follow_low = float(self.get_value("AggressiveFollow", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
aggressive_follow_high = float(self.get_value("AggressiveFollowHigh", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
toggle.aggressive_follow = [aggressive_follow_low, aggressive_follow_high]
toggle.standard_jerk_acceleration = self.get_value("StandardJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.standard_jerk_deceleration = self.get_value("StandardJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.standard_jerk_danger = self.get_value("StandardJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.standard_jerk_speed = self.get_value("StandardJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.standard_jerk_speed_decrease = self.get_value("StandardJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
standard_follow_low = float(self.get_value("StandardFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
standard_follow_high = float(self.get_value("StandardFollowHigh", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
standard_follow_low = float(self.get_value("StandardFollow", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
standard_follow_high = float(self.get_value("StandardFollowHigh", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
toggle.standard_follow = [standard_follow_low, standard_follow_high]
toggle.relaxed_jerk_acceleration = self.get_value("RelaxedJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.relaxed_jerk_deceleration = self.get_value("RelaxedJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.relaxed_jerk_danger = self.get_value("RelaxedJerkDanger", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.relaxed_jerk_speed = self.get_value("RelaxedJerkSpeed", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
toggle.relaxed_jerk_speed_decrease = self.get_value("RelaxedJerkSpeedDecrease", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0)
relaxed_follow_low = float(self.get_value("RelaxedFollow", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
relaxed_follow_high = float(self.get_value("RelaxedFollowHigh", cast=float, condition=toggle.custom_personalities, min=1, max=MAX_T_FOLLOW))
relaxed_follow_low = float(self.get_value("RelaxedFollow", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
relaxed_follow_high = float(self.get_value("RelaxedFollowHigh", cast=float, condition=toggle.custom_personalities, min=MIN_T_FOLLOW, max=MAX_T_FOLLOW))
toggle.relaxed_follow = [relaxed_follow_low, relaxed_follow_high]
toggle.traffic_mode_jerk_acceleration = [self.get_value("TrafficJerkAcceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.relaxed_jerk_acceleration]
toggle.traffic_mode_jerk_deceleration = [self.get_value("TrafficJerkDeceleration", cast=float, condition=toggle.custom_personalities, conversion=0.01, min=0.25, max=2.0), toggle.relaxed_jerk_deceleration]