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EV Tuning

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firestar5683
2026-02-16 23:43:46 -06:00
parent 338a07973b
commit 2f29d7ee04
1 changed files with 14 additions and 8 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+14 -8
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@@ -47,8 +47,10 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
# MPH = [0.0, 11, 22, 34, 45, 56, 89]
A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
A_CRUISE_MAX_VALS_ECO_EV = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
A_CRUISE_MAX_VALS_SPORT_EV = [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
A_CRUISE_MAX_VALS_ECO_EV = [1.0, 1.0, 1.0, 1.0, 1.12, 1.12, 1.45]
A_CRUISE_MAX_VALS_STANDARD_EV = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
A_CRUISE_MAX_VALS_SPORT_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.5, 2.0]
A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
A_CRUISE_MAX_VALS_ECO_TRUCK = [4.0, 1.10, 0.60, 0.50, 0.45, 0.43, 0.35]
@@ -74,7 +76,9 @@ def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_standard(v_ego, truck_tuning=False):
def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
if truck_tuning:
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
return get_max_accel(v_ego)
@@ -85,7 +89,9 @@ def get_max_accel_low_speeds(max_accel, v_cruise):
def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))
def get_max_allowed_accel(v_ego, truck_tuning=False):
def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
if truck_tuning:
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0])) # ISO 15622:2018
@@ -104,7 +110,7 @@ class FrogPilotAcceleration:
truck_tuning = frogpilot_toggles.truck_tuning
if sm["frogpilotCarState"].trafficModeEnabled:
self.max_accel = get_max_accel_standard(v_ego, truck_tuning)
self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
@@ -112,16 +118,16 @@ class FrogPilotAcceleration:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
else:
self.max_accel = get_max_allowed_accel(v_ego, truck_tuning)
self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
else:
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego, truck_tuning)
self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
else:
self.max_accel = get_max_accel_standard(v_ego, truck_tuning)
self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
if frogpilot_toggles.human_acceleration:
self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)