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accel profiles

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firestar5683
2026-03-27 11:18:57 -05:00
parent 3fe8671e90
commit 40c0ae3c93
2 changed files with 11 additions and 10 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+9 -8
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@@ -1,7 +1,8 @@
#!/usr/bin/env python3
import numpy as np
from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
from opendbc.car.interfaces import ACCEL_MIN
from openpilot.selfdrive.controls.lib.longitudinal_planner import get_max_accel
from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
@@ -42,15 +43,15 @@ def akima_interp(x, xp, fp):
return (fp[i]*(1 - 10*t3 + 15*t4 - 6*t3*t2)
+ fp[i+1]*(10*t3 - 15*t4 + 6*t3*t2))
A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2
A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
A_CRUISE_MIN_ECO = ACCEL_MIN / 2
A_CRUISE_MIN_SPORT = ACCEL_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 = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
A_CRUISE_MAX_VALS_STANDARD_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
A_CRUISE_MAX_VALS_SPORT_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
A_CRUISE_MAX_VALS_ECO_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
A_CRUISE_MAX_VALS_STANDARD_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
A_CRUISE_MAX_VALS_SPORT_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.7825, 1.7825, 1.7825, 1.7825, 2.116, 2.116, 2.783]
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 = [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
@@ -162,4 +163,4 @@ class FrogPilotAcceleration:
elif frogpilot_toggles.deceleration_profile == DECELERATION_PROFILES["SPORT"]:
self.min_accel = A_CRUISE_MIN_SPORT
else:
self.min_accel = A_CRUISE_MIN
self.min_accel = ACCEL_MIN
selfdrive/controls/lib/longitudinal_planner.py
+2 -2
View File
@@ -18,8 +18,8 @@ from openpilot.common.swaglog import cloudlog
LON_MPC_STEP = 0.2 # first step is 0.2s
A_CRUISE_MIN = -1.0
A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
ALLOW_THROTTLE_THRESHOLD = 0.4
MIN_ALLOW_THROTTLE_SPEED = 2.5