From 2f29d7ee044fd2cbec689dbea66624fe61816187 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 16 Feb 2026 23:43:46 -0600 Subject: [PATCH] EV Tuning --- .../controls/lib/frogpilot_acceleration.py | 22 ++++++++++++------- 1 file changed, 14 insertions(+), 8 deletions(-) diff --git a/frogpilot/controls/lib/frogpilot_acceleration.py b/frogpilot/controls/lib/frogpilot_acceleration.py index f77df53fb..90d0daebe 100644 --- a/frogpilot/controls/lib/frogpilot_acceleration.py +++ b/frogpilot/controls/lib/frogpilot_acceleration.py @@ -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)