From 2a38c61f108611f6c7ee8be8e17a6e79ef1c9051 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 5 Aug 2026 16:10:40 -0500 Subject: [PATCH] traefik --- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- starpilot/common/starpilot_variables.py | 13 +++++++------ 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index e5c94d4831..5c8e561129 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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 diff --git a/starpilot/common/starpilot_variables.py b/starpilot/common/starpilot_variables.py index c0ca5ff62d..0aa4993369 100644 --- a/starpilot/common/starpilot_variables.py +++ b/starpilot/common/starpilot_variables.py @@ -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]