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Update longitudinal_planner.py

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infiniteCable
2025-06-23 17:12:42 +02:00
committed by GitHub
parent 4042ff8ddb
commit 2e287f6dcc
1 changed files with 3 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+3 -2
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@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan, get_speed_from_plan
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
from openpilot.common.swaglog import cloudlog
@@ -175,8 +175,9 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
action_t = self.CP.longitudinalActuatorDelay + DT_MDL
output_a_target_mpc, output_should_stop_mpc, output_v_target = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
output_v_target = get_speed_from_plan(self.v_desired_trajectory, CONTROL_N_T_IDX, action_t=action_t)
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
output_should_stop_e2e = sm['modelV2'].action.shouldStop