mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-27 08:52:05 +08:00
dragonpilot
74 lines
3.1 KiB
Python
74 lines
3.1 KiB
Python
#!/usr/bin/env python3
|
|
# The MIT License
|
|
#
|
|
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
|
#
|
|
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
# of this software and associated documentation files (the "Software"), to deal
|
|
# in the Software without restriction, including without limitation the rights
|
|
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
# copies of the Software, and to permit persons to whom the Software is
|
|
# furnished to do so, subject to the following conditions:
|
|
#
|
|
# The above copyright notice and this permission notice shall be included in
|
|
# all copies or substantial portions of the Software.
|
|
#
|
|
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
|
# THE SOFTWARE.
|
|
|
|
from openpilot.common.numpy_fast import interp
|
|
|
|
DP_ACCEL_STOCK = 0
|
|
DP_ACCEL_ECO = 1
|
|
DP_ACCEL_NORMAL = 2
|
|
DP_ACCEL_SPORT = 3
|
|
|
|
# accel profile by @arne182 modified by cgw
|
|
_DP_CRUISE_MIN_V = [-0.490, -0.490, -0.41, -0.41, -0.41, -0.40, -0.36, -0.32, -0.32, -0.25, -0.25]
|
|
_DP_CRUISE_MIN_V_ECO = [-0.480, -0.480, -0.40, -0.40, -0.40, -0.36, -0.32, -0.28, -0.28, -0.25, -0.25]
|
|
_DP_CRUISE_MIN_V_SPORT = [-0.500, -0.500, -0.42, -0.42, -0.42, -0.42, -0.40, -0.35, -0.35, -0.30, -0.30]
|
|
_DP_CRUISE_MIN_BP = [0., 2.0, 2.01, 11., 11.01, 18., 18.01, 28., 28.01, 33., 55.]
|
|
|
|
_DP_CRUISE_MAX_V = [3.5, 3.4, 2.2, 1.5, .92, 0.76, .54, .42, .32, .14]
|
|
_DP_CRUISE_MAX_V_ECO = [3.5, 3.3, 1.7, 1.1, .76, .62, .47, .36, .28, .09]
|
|
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.0, 2.6, 1.4, 1.0, 0.7, 0.6, .38, .2]
|
|
_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
|
|
|
|
class AccelController:
|
|
|
|
def __init__(self):
|
|
# self._params = Params()
|
|
self._profile = DP_ACCEL_STOCK
|
|
|
|
def set_profile(self, profile):
|
|
try:
|
|
self._profile = int(profile) if int(profile) in [DP_ACCEL_STOCK, DP_ACCEL_ECO, DP_ACCEL_NORMAL, DP_ACCEL_SPORT] else DP_ACCEL_STOCK
|
|
except:
|
|
self._profile = DP_ACCEL_STOCK
|
|
|
|
def _dp_calc_cruise_accel_limits(self, v_ego):
|
|
if self._profile == DP_ACCEL_ECO:
|
|
min_v = _DP_CRUISE_MIN_V_ECO
|
|
max_v = _DP_CRUISE_MAX_V_ECO
|
|
elif self._profile == DP_ACCEL_SPORT:
|
|
min_v = _DP_CRUISE_MIN_V_SPORT
|
|
max_v = _DP_CRUISE_MAX_V_SPORT
|
|
else:
|
|
min_v = _DP_CRUISE_MIN_V
|
|
max_v = _DP_CRUISE_MAX_V
|
|
|
|
a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
|
|
a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
|
|
return a_cruise_min, a_cruise_max
|
|
|
|
def get_accel_limits(self, v_ego, accel_limits):
|
|
return accel_limits if self._profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
|
|
|
|
def is_enabled(self):
|
|
return self._profile != DP_ACCEL_STOCK
|