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do stopping accel in carcontroller

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This commit is contained in:
Jason Wen
2024-07-23 11:11:00 -04:00
parent 7f06773c26
commit 7560d8db9e
1 changed files with 6 additions and 5 deletions
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selfdrive/car/hyundai/carcontroller.py
+6 -5
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@@ -110,6 +110,7 @@ class CarController(CarControllerBase):
self.cb_lower = 0.0
self.jerk_count = 0.0
self.accel_raw = 0
self.accel_val = 0
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
@@ -299,7 +300,7 @@ class CarController(CarControllerBase):
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
self.make_accel(accel, actuators)
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
@@ -533,14 +534,14 @@ class CarController(CarControllerBase):
self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
def make_accel(self, accel, actuators):
self.accel_raw = accel
if actuators.longControlState == LongCtrlState.pid:
rate_up, rate_down = 0.0, 0.0
self.accel_last = accel
rate_up, rate_down = 0.1, 0.1
else:
rate_up = 0.02 * self.jerk_u
rate_down = 0.02 * self.jerk_l
if actuators.longControlState == LongCtrlState.off:
self.accel_val = 0
self.accel_raw, self.accel_val = 0, 0
else:
self.accel_val = clip(accel, self.accel_last - rate_down, self.accel_last + rate_up)
self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
self.accel_last = self.accel_val