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https://github.com/firestar5683/StarPilot.git
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FrogAi
84 lines
3.4 KiB
Python
84 lines
3.4 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.numpy_fast import clip, interp
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from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
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from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT
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A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2
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A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
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# MPH = [0.0, 11, 22, 34, 45, 56, 89]
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A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
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A_CRUISE_MAX_VALS_ECO = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
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A_CRUISE_MAX_VALS_SPORT = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
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A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]
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def get_max_accel_eco(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
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def get_max_accel_sport(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
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def get_max_accel_sport_plus(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS)
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def get_max_accel_low_speeds(max_accel, v_cruise):
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return interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel])
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def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
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return interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel])
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def get_max_allowed_accel(v_ego):
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return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]) # ISO 15622:2018
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class FrogPilotAcceleration:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.max_accel = 0
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self.min_accel = 0
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def update(self, frogpilotCarState, v_ego, frogpilot_toggles):
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eco_gear = frogpilotCarState.ecoGear
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sport_gear = frogpilotCarState.sportGear
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if frogpilotCarState.trafficModeActive:
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self.max_accel = get_max_accel(v_ego)
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elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
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if eco_gear:
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self.max_accel = get_max_accel_eco(v_ego)
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else:
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if frogpilot_toggles.acceleration_profile == 3:
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self.max_accel = get_max_accel_sport_plus(v_ego)
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else:
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self.max_accel = get_max_accel_sport(v_ego)
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else:
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if frogpilot_toggles.acceleration_profile == 1:
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self.max_accel = get_max_accel_eco(v_ego)
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elif frogpilot_toggles.acceleration_profile == 2:
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self.max_accel = get_max_accel_sport(v_ego)
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elif frogpilot_toggles.acceleration_profile == 3:
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self.max_accel = get_max_accel_sport_plus(v_ego)
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else:
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self.max_accel = get_max_accel(v_ego)
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if frogpilot_toggles.human_acceleration:
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if self.frogpilot_planner.frogpilot_following.following_lead and not frogpilotCarState.trafficModeActive:
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self.max_accel = clip(self.frogpilot_planner.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), get_max_allowed_accel(v_ego))
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self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)
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self.max_accel = min(get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego), self.max_accel)
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if frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
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if eco_gear:
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self.min_accel = A_CRUISE_MIN_ECO
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else:
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self.min_accel = A_CRUISE_MIN_SPORT
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else:
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if frogpilot_toggles.deceleration_profile == 1:
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self.min_accel = A_CRUISE_MIN_ECO
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elif frogpilot_toggles.deceleration_profile == 2:
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self.min_accel = A_CRUISE_MIN_SPORT
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else:
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self.min_accel = A_CRUISE_MIN
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