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fast resume: disengage acc enabled for 1 frame, then re-engage

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This commit is contained in:
Jason Wen
2024-07-23 11:32:42 -04:00
parent 8ec69008ce
commit c02b3fca53
1 changed files with 13 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+13 -1
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@@ -113,6 +113,9 @@ class CarController(CarControllerBase):
self.accel_raw = 0
self.accel_val = 0
self.acc_enabled = False
self.prev_stop_req = False
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
lead_one = self.sm["radarState"].leadOne
lead_two = self.sm["radarState"].leadTwo
@@ -300,7 +303,8 @@ 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, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
self.fast_resume(actuators, CC.enabled and CS.out.cruiseState.enabled, stopping)
can_sends.extend(hyundaican.create_acc_commands(self.packer, self.acc_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))
@@ -545,3 +549,11 @@ class CarController(CarControllerBase):
else:
self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
self.accel_last = self.accel_val
def fast_resume(self, actuators, enabled, stopping):
if actuators.longControlState == LongCtrlState.starting and self.acc_enabled and self.prev_stop_req:
self.acc_enabled = False
else:
self.acc_enabled = enabled
self.prev_stop_req = stopping