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Trailer Load Gas Tuning

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firestar5683
2025-12-12 01:01:16 -06:00
parent 0e93ceef00
commit 4cfd893837
26 changed files with 369 additions and 13 deletions
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frogpilot/common/frogpilot_variables.py
+13 -1
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@@ -13,7 +13,8 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.params import Params
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.selfdrive.car.car_helpers import interfaces
from openpilot.selfdrive.car.gm.values import GMFlags
from openpilot.selfdrive.car.gm.values import EV_CAR as GM_EV_CAR, GMFlags
from openpilot.selfdrive.car.hyundai.values import EV_CAR as HYUNDAI_EV_CAR
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.mock.interface import CarInterface
from openpilot.selfdrive.car.mock.values import CAR as MOCK
@@ -32,6 +33,7 @@ params_memory = Params("/dev/shm/params")
GearShifter = car.CarState.GearShifter
SafetyModel = car.CarParams.SafetyModel
TransmissionType = car.CarParams.TransmissionType
CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways
CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive
@@ -128,6 +130,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("AdvancedCustomUI", "0", 2, "0"),
("AdvancedLateralTune", "0", 2, "0"),
("AdvancedLongitudinalTune", "0", 3, "0"),
("EVTuning", "", 3, "0"),
("AggressiveFollow", "1.25", 2, "1.25"),
("AggressiveFollowHigh", "1.25", 2, "1.25"),
("AggressiveJerkAcceleration", "50", 3, "50"),
@@ -271,6 +274,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("LongitudinalActuatorDelay", "", 3, ""),
("LongitudinalActuatorDelayStock", "", 3, ""),
("LongitudinalTune", "1", 0, "0"),
("TrailerLoad", "0", 2, "0"),
("LongPitch", "1", 2, "0"),
("LoudBlindspotAlert", "0", 0, "0"),
("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 2, str(VBATT_PAUSE_CHARGING)),
@@ -616,6 +620,13 @@ class FrogPilotVariables:
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
ev_vehicle = toggle.car_make == "gm" and toggle.car_model != "CHEVROLET_VOLT" and CP.carFingerprint in GM_EV_CAR or toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR
ev_vehicle |= CP.transmissionType == TransmissionType.direct
if params.get("EVTuning") == b"":
params.put_bool("EVTuning", ev_vehicle)
toggle.ev_tuning = params.get_bool("EVTuning") if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -835,6 +846,7 @@ class FrogPilotVariables:
toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing"))
toggle.lead_detection_probability = np.clip(params.get_int("LeadDetectionThreshold") / 100, 0.25, 0.50) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else default.get_int("LeadDetectionThreshold") / 100
toggle.max_desired_acceleration = np.clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration")
toggle.trailer_load_kg = (np.clip(params.get_int("TrailerLoad"), 0, 15000) if longitudinal_tuning and tuning_level >= level["TrailerLoad"] else default.get_int("TrailerLoad")) * CV.LB_TO_KG
toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune"))
toggle.available_models = params.get("AvailableModels", encoding="utf-8") or ""
frogpilot/controls/lib/frogpilot_acceleration.py
+15 -10
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@@ -47,14 +47,18 @@ 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 = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
A_CRUISE_MAX_VALS_SPORT = [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, 1.0, 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_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]
def get_max_accel_eco(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO))
def get_max_accel_eco(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_sport(v_ego):
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT))
def get_max_accel_sport(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_low_speeds(max_accel, v_cruise):
return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
@@ -75,22 +79,23 @@ class FrogPilotAcceleration:
def update(self, v_ego, sm, frogpilot_toggles):
eco_gear = sm["frogpilotCarState"].ecoGear
sport_gear = sm["frogpilotCarState"].sportGear
ev_tuning = frogpilot_toggles.ev_tuning
if sm["frogpilotCarState"].trafficModeEnabled:
self.max_accel = get_max_accel(v_ego)
elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
else:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
else:
self.max_accel = get_max_allowed_accel(v_ego)
else:
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego)
else:
frogpilot/ui/qt/offroad/longitudinal_settings.cc
+14
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@@ -98,6 +98,11 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
"fine-tune how openpilot drives."),
"../../frogpilot/assets/toggle_icons/"
"icon_advanced_longitudinal_tune.png"},
{"EVTuning", tr("EV Tuning"),
tr("<b>Use acceleration profiles tuned for EVs.</b> Defaults to the "
"vehicle's detected powertrain type but can be overridden if the "
"automatic choice doesn't match."),
""},
{"LongitudinalActuatorDelay",
longitudinalActuatorDelay != 0
? QString(tr("Actuator Delay (Default: %1)"))
@@ -428,6 +433,11 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
{"MaxDesiredAcceleration", tr("Maximum Acceleration"),
tr("<b>Limit the strongest acceleration</b> openpilot can command."),
""},
{"TrailerLoad", tr("Trailer Load"),
tr("<b>Increase the vehicle mass to account for towing.</b> Adjust "
"in 500 lb steps up to 15,000 lbs to fine-tune gas and brake "
"behavior when pulling a trailer."),
""},
{"TacoTune", tr("\"Taco Bell Run\" Turn Speed Hack"),
tr("<b>The turn-speed hack from comma's 2022 \"Taco Bell Run\".</b> "
"Designed to slow down for left and right turns."),
@@ -871,6 +881,10 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
longitudinalToggle = new FrogPilotParamValueControl(
param, title, desc, icon, 0.1, 4.0, tr(" m/s²"),
std::map<float, QString>(), 0.1);
} else if (param == "TrailerLoad") {
longitudinalToggle = new FrogPilotParamValueControl(
param, title, desc, icon, 0, 15000, tr(" lbs"),
std::map<float, QString>(), 500);
} else if (param == "QOLLongitudinal") {
FrogPilotManageControl *qolLongitudinalToggle =
frogpilot/ui/qt/offroad/longitudinal_settings.h
+2 -2
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@@ -40,12 +40,12 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> advancedLongitudinalTuneKeys = {"LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"};
QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TrailerLoad", "TacoTune"};
QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"};
QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};