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firestar5683
2025-12-18 23:43:01 -06:00
parent 7e403c0ad4
commit d03dfd8e65
3 changed files with 41 additions and 7 deletions
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frogpilot/controls/lib/curve_speed_controller.py
+6 -2
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@@ -93,10 +93,14 @@ class CurveSpeedController:
if self.target_set:
csc_speed = (lateral_acceleration / abs(self.frogpilot_planner.road_curvature))**0.5
decel_rate = (v_ego - csc_speed) / self.frogpilot_planner.time_to_curve
# Apply deceleration rate reduction factor (20% reduction) for smoother curve entry
raw_decel_rate = (v_ego - csc_speed) / max(self.frogpilot_planner.time_to_curve, 0.5)
decel_rate = raw_decel_rate * 0.8 # 20% reduction in deceleration rate
self.target -= decel_rate * DT_MDL
self.target = float(np.clip(self.target, CRUISING_SPEED, csc_speed))
# Slightly lower minimum speed threshold for smoother transition
self.target = float(np.clip(self.target, CRUISING_SPEED * 0.9, csc_speed))
else:
self.target_set = True