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Controls - Longitudinal Tuning - Increase Stop Distance Behind Lead

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Increase the stopping distance for a more comfortable stop from lead vehicles.
This commit is contained in:
FrogAi
2024-06-07 10:51:58 -07:00
parent 20465ffe42
commit dbf5c71daa
2 changed files with 9 additions and 5 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+6 -3
View File
@@ -16,6 +16,8 @@ if __name__ == '__main__': # generating code
else:
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT
from casadi import SX, vertcat
MODEL_NAME = 'long'
@@ -325,10 +327,10 @@ class LongitudinalMpc:
lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
return lead_xv
def process_lead(self, lead):
def process_lead(self, lead, increased_stopping_distance=0):
v_ego = self.x0[1]
if lead is not None and lead.status:
x_lead = lead.dRel
x_lead = lead.dRel - increased_stopping_distance
v_lead = lead.vLead
a_lead = lead.aLeadK
a_lead_tau = lead.aLeadTau
@@ -357,8 +359,9 @@ class LongitudinalMpc:
def update(self, radarstate, v_cruise, x, v, a, j, t_follow, frogpilot_toggles, personality=log.LongitudinalPersonality.standard):
v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
increased_distance = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0)
lead_xv_0 = self.process_lead(radarstate.leadOne)
lead_xv_0 = self.process_lead(radarstate.leadOne, increased_distance)
lead_xv_1 = self.process_lead(radarstate.leadTwo)
# To estimate a safe distance from a moving lead, we calculate how much stopping
selfdrive/frogpilot/controls/frogpilot_planner.py
+3 -2
View File
@@ -54,8 +54,9 @@ class FrogPilotPlanner:
v_ego = max(carState.vEgo, 0)
v_lead = self.lead_one.vLead
lead_distance = self.lead_one.dRel
stopping_distance = STOP_DISTANCE
distance_offset = max(frogpilot_toggles.increased_stopping_distance + min(CITY_SPEED_LIMIT - v_ego, 0), 0)
lead_distance = self.lead_one.dRel - distance_offset
stopping_distance = STOP_DISTANCE + distance_offset
if frogpilot_toggles.conditional_experimental_mode and controlsState.enabled:
self.cem.update(carState, frogpilotNavigation, self.lead_one, modelData, self.model_length, self.road_curvature, self.slower_lead, self.tracking_lead, v_ego, v_lead, frogpilot_toggles)