firestar5683
157 lines
6.2 KiB
Python
157 lines
6.2 KiB
Python
#!/usr/bin/env python3
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import numpy as np
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from openpilot.selfdrive.controls.lib.longitudinal_planner import ACCEL_MIN, get_max_accel
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from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
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def cubic_interp(x, xp, fp):
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if x <= xp[0]:
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return fp[0]
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elif x >= xp[-1]:
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return fp[-1]
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i = np.searchsorted(xp, x) - 1
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i = max(0, min(i, len(xp) - 2))
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t = (x - xp[i]) / float(xp[i + 1] - xp[i])
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return fp[i] * (1 - 3 * t ** 2 + 2 * t ** 3) + fp[i + 1] * (3 * t ** 2 - 2 * t ** 3)
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def akima_interp(x, xp, fp):
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if x <= xp[0]:
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return fp[0]
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elif x >= xp[-1]:
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return fp[-1]
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i = np.searchsorted(xp, x) - 1
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i = max(0, min(i, len(xp) - 2))
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t = (x - xp[i]) / float(xp[i + 1] - xp[i])
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t2 = t * t
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t3 = t2 * t
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t4 = t2 * t2
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return (fp[i] * (1 - 10 * t3 + 15 * t4 - 6 * t3 * t2)
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+ fp[i + 1] * (10 * t3 - 15 * t4 + 6 * t3 * t2))
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A_CRUISE_MIN_ECO = ACCEL_MIN / 2
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A_CRUISE_MIN_SPORT = ACCEL_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_EV = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
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A_CRUISE_MAX_VALS_STANDARD_EV = [1.25, 1.25, 1.25, 1.25, 1.45, 1.50, 2.00]
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A_CRUISE_MAX_VALS_SPORT_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
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A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.55, 1.55, 1.55, 1.55, 1.84, 1.84, 2.42]
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A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
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A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
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A_CRUISE_MAX_VALS_ECO_TRUCK = [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
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A_CRUISE_MAX_VALS_STANDARD_TRUCK = [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
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A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
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A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
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ACCELERATION_PROFILES = {
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"STANDARD": 0,
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"ECO": 1,
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"SPORT": 2,
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"SPORT_PLUS": 3
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}
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DECELERATION_PROFILES = {
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"STANDARD": 0,
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"ECO": 1,
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"SPORT": 2
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}
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def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
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if ev_tuning:
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cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
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elif truck_tuning:
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cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
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else:
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cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
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def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
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if ev_tuning:
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cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
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elif truck_tuning:
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cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
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else:
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cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
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def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
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if ev_tuning:
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
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if truck_tuning:
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
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return get_max_accel(v_ego)
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def get_max_accel_low_speeds(max_accel, v_cruise):
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return float(akima_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 float(akima_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, ev_tuning=True, truck_tuning=False):
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if ev_tuning:
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
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if truck_tuning:
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return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
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return float(akima_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, v_ego, sm, frogpilot_toggles):
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eco_gear = sm["frogpilotCarState"].ecoGear
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sport_gear = sm["frogpilotCarState"].sportGear
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ev_tuning = getattr(frogpilot_toggles, "ev_tuning", True)
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truck_tuning = getattr(frogpilot_toggles, "truck_tuning", False)
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if sm["frogpilotCarState"].trafficModeEnabled:
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self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
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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, ev_tuning, truck_tuning)
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else:
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if frogpilot_toggles.acceleration_profile == ACCELERATION_PROFILES["SPORT"]:
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self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
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else:
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self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
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else:
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if frogpilot_toggles.acceleration_profile == ACCELERATION_PROFILES["ECO"]:
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self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
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elif frogpilot_toggles.acceleration_profile == ACCELERATION_PROFILES["SPORT"]:
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self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
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elif frogpilot_toggles.acceleration_profile == ACCELERATION_PROFILES["SPORT_PLUS"]:
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self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
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else:
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self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
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if frogpilot_toggles.human_acceleration:
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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 self.frogpilot_planner.frogpilot_weather.weather_id != 0:
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self.max_accel -= self.max_accel * self.frogpilot_planner.frogpilot_weather.reduce_acceleration
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if sm["frogpilotCarState"].forceCoast:
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self.min_accel = A_CRUISE_MIN_ECO
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elif 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 == DECELERATION_PROFILES["ECO"]:
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self.min_accel = A_CRUISE_MIN_ECO
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elif frogpilot_toggles.deceleration_profile == DECELERATION_PROFILES["SPORT"]:
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self.min_accel = A_CRUISE_MIN_SPORT
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else:
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self.min_accel = ACCEL_MIN
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