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Increase Stopped Distance

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This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent a52821e983
commit 3e32a6a910
2 changed files with 8 additions and 3 deletions
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frogpilot/controls/frogpilot_planner.py
+2
View File
@@ -130,6 +130,8 @@ class FrogPilotPlanner:
frogpilotPlan.frogpilotToggles = json.dumps(vars(frogpilot_toggles))
frogpilotPlan.increasedStoppedDistance = frogpilot_toggles.increase_stopped_distance
frogpilotPlan.lateralCheck = self.lateral_check
frogpilotPlan.maxAcceleration = float(self.frogpilot_acceleration.max_accel)
selfdrive/controls/radard.py
+6 -3
View File
@@ -213,7 +213,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
model_v_ego: float, model_data: capnp._DynamicStructReader,
frogpilot_toggles: SimpleNamespace,
frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
low_speed_override: bool = True) -> dict[str, Any]:
# Determine leads, this is where the essential logic happens
if len(tracks) > 0 and ready and lead_msg.prob > .5:
@@ -246,6 +246,9 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
for track in tracks.values():
track.leadTrackID = lead_dict.get('radarTrackId', -1)
if 'dRel' in lead_dict:
lead_dict['dRel'] -= frogpilot_plan.increasedStoppedDistance
return lead_dict
@@ -323,8 +326,8 @@ class RadarD:
model_v_ego = self.v_ego
leads_v3 = sm['modelV2'].leadsV3
if len(leads_v3) > 1:
self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], self.frogpilot_toggles, low_speed_override=True)
self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], self.frogpilot_toggles, low_speed_override=False)
self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=True)
self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, sm['modelV2'], sm['frogpilotPlan'], self.frogpilot_toggles, low_speed_override=False)
# FrogPilot variables
if self.ready and (self.frogpilot_toggles.adjacent_lead_tracking or self.frogpilot_toggles.human_lane_changes):