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rav4kumar
2024-08-03 23:40:52 +00:00
committed by rav4kumar
parent dd08146711
commit 2721e85275
3 changed files with 22 additions and 17 deletions
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selfdrive/car/toyota/interface.py
+3 -3
View File
@@ -162,8 +162,8 @@ class CarInterface(CarInterfaceBase):
# hand tuned (July 1, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.001
ret.vEgoStarting = 0.001
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stoppingDecelRate = 0.0074
def default_tss2_longitudinal_tuning():
@@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase):
#tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06]
#smooth
tune.kiBP = [0., 5., 12., 20., 27., 36., 50]
tune.kiV = [0.33, 0.205, 0.20, 0.17, 0.12, 0.08, 0.06]
tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06]
#tune.kiBP = [0., 2., 5., 12., 16, 20., 27., 36., 50]
#tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06]
custom_tss2_longitudinal_tuning()
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+10 -10
View File
@@ -56,7 +56,7 @@ T_IDXS = np.array(T_IDXS_LST)
FCW_IDXS = T_IDXS < 5.0
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 3.0
STOP_DISTANCE = 6.0
def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -66,7 +66,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 0.8
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.6
return 0.65
else:
raise NotImplementedError("Longitudinal personality not supported")
@@ -86,17 +86,17 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.5, 1.5, 1.5, 1.6, 1.76, 1.76, 1.78, 1.78, 1.8, 1.8]
x_vel = [0, 20., 27.7]
y_dist = [1.75, 1.75, 2.00]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 19.99, 20, 36]
y_dist = [0.65, 0.65, 0.87, 0.87, 1.09, 1.09, 1.25, 1.25, 1.65, 1.65]
x_vel = [0, 20., 27.7]
y_dist = [1.75, 1.75, 2.00]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 20, 20.01, 36]
y_dist = [0.64, 0.64, 0.85, 0.85, 1.04, 1.04, 1.20, 1.20, 1.40, 1.40]
x_vel = [0, 20., 27.7]
y_dist = [1.45, 1.45, 1.60]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 15, 17, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [0.63, 0.53, 0.83, 0.83, 1.00, 1.00, 1.15, 1.15, 1.16, 1.24, 1.25, 1.25, 1.25, 1.25, 1.25]
x_vel = [0, 20., 27.7]
y_dist = [1.28, 1.28, 1.35]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)
selfdrive/controls/lib/sunnypilot/accel_controller.py
+9 -4
View File
@@ -29,10 +29,15 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.045, -0.045, -0.201, -0.201, -0.430, -0.430, -0.66, -0.66, -0.82]
_DP_CRUISE_MIN_V_ECO = [-0.04, -0.04, -0.200, -0.200, -0.425, -0.425, -0.64, -0.64, -0.80]
_DP_CRUISE_MIN_V_SPORT = [-0.05, -0.05, -0.204, -0.204, -0.445, -0.445, -0.68, -0.68, -0.84]
_DP_CRUISE_MIN_BP = [0., 5.00, 5.01, 17., 17.01, 27.77, 27.78, 33., 33.01]
_DP_CRUISE_MIN_V = [-1.0, -1.0, -0.76]
_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0, -0.74]
_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0, -0.78]
_DP_CRUISE_MIN_BP = [0., 11.1, 20.]
#_DP_CRUISE_MIN_V = [-0.045, -0.045, -0.201, -0.201, -0.430, -0.430, -0.66, -0.66, -0.82]
#_DP_CRUISE_MIN_V_ECO = [-0.04, -0.04, -0.200, -0.200, -0.425, -0.425, -0.64, -0.64, -0.80]
#_DP_CRUISE_MIN_V_SPORT = [-0.05, -0.05, -0.204, -0.204, -0.445, -0.445, -0.68, -0.68, -0.84]
#_DP_CRUISE_MIN_BP = [0., 5.00, 5.01, 17., 17.01, 27.77, 27.78, 33., 33.01]
_DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.68, 1.07, .72, .53, .42, .13]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.38, 0.91, .53, .42, .31, .085]
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.34, .96, .78, .60, .4]