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Update longitudinal_planner.py

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infiniteCable
2025-04-06 14:50:05 +02:00
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parent 9a0b4fd155
commit 5d56f45e81
1 changed files with 9 additions and 0 deletions
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selfdrive/controls/lib/longitudinal_planner.py
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@@ -36,6 +36,14 @@ def get_coast_accel(pitch):
return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
def get_lead_distance(radarState):
if radarState.leadOne.status and (not radarState.leadTwo.status or radarState.leadOne.dRel < radarState.leadTwo.dRel):
return radarState.leadOne.dRel
if radarState.leadTwo.status:
return radarState.leadTwo.dRel
return 0
def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
"""
This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -205,6 +213,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
longitudinalPlan.hasLead = sm['radarState'].leadOne.status
longitudinalPlan.leadDistance = get_lead_distance(sm['radarState'])
longitudinalPlan.longitudinalPlanSource = self.mpc.source
longitudinalPlan.fcw = self.fcw