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Truck Tuning

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firestar5683
2026-02-16 23:39:37 -06:00
parent c93c19128e
commit 6c16b9a14b
1 changed files with 16 additions and 7 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+16 -7
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@@ -57,8 +57,10 @@ 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]
A_CRUISE_MAX_VALS_ECO_TRUCK = [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
A_CRUISE_MAX_VALS_ECO_TRUCK = [4.0, 1.10, 0.60, 0.50, 0.45, 0.43, 0.35]
A_CRUISE_MAX_VALS_STANDARD_TRUCK = [6.0, 1.25, 0.80, 0.60, 0.55, 0.50, 0.38]
A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.0, 1.30, 0.85, 0.72, 0.65, 0.60, 0.45]
A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [7.0, 1.40, 1.00, 0.85, 0.77, 0.70, 0.55]
def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
@@ -78,13 +80,20 @@ 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):
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)
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]))
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):
def get_max_allowed_accel(v_ego, truck_tuning=False):
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
class FrogPilotAcceleration:
@@ -101,7 +110,7 @@ class FrogPilotAcceleration:
truck_tuning = frogpilot_toggles.truck_tuning
if sm["frogpilotCarState"].trafficModeEnabled:
self.max_accel = get_max_accel(v_ego)
self.max_accel = get_max_accel_standard(v_ego, 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)
@@ -109,16 +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)
self.max_accel = get_max_allowed_accel(v_ego, 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)
self.max_accel = get_max_allowed_accel(v_ego, truck_tuning)
else:
self.max_accel = get_max_accel(v_ego)
self.max_accel = get_max_accel_standard(v_ego, 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)