James
79 lines
2.6 KiB
Python
79 lines
2.6 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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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 = [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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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):
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return np.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 np.interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
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def get_max_allowed_accel(v_ego):
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return np.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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if (eco_gear or sport_gear) and frogpilot_toggles.map_acceleration:
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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 == ACCELERATION_PROFILES["SPORT"]:
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self.max_accel = get_max_accel_sport(v_ego)
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else:
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self.max_accel = get_max_allowed_accel(v_ego)
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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)
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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)
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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)
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else:
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self.max_accel = get_max_accel(v_ego)
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if self.frogpilot_planner.tracking_lead:
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self.min_accel = ACCEL_MIN
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elif (eco_gear or sport_gear) and frogpilot_toggles.map_deceleration:
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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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