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rav4kumar
2025-10-31 22:01:54 -07:00
parent 5ef2f5d1fb
commit c69a340599
1 changed files with 16 additions and 8 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+16 -8
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@@ -23,15 +23,19 @@ MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
# Braking Profiles
MIN_ACCEL_PROFILES = {
AccelPersonality.eco: [-0.0000002, -0.0000002, -0.24, -1.20],
AccelPersonality.normal: [-0.0000002, -0.0000002, -0.26, -1.20],
AccelPersonality.sport: [-0.0000003, -0.0000003, -0.28, -1.20],
AccelPersonality.eco: [-0.05, -0.08, -0.20, -0.24, -1.20],
AccelPersonality.normal: [-0.06, -0.10, -0.22, -0.26, -1.20],
AccelPersonality.sport: [-0.08, -0.12, -0.24, -0.28, -1.20],
}
MIN_ACCEL_BREAKPOINTS = [0., 5., 8., 25.]
MIN_ACCEL_BREAKPOINTS = [0., 4., 6., 8., 25.]
DECEL_SMOOTH_ALPHA = 0.08 # Very aggressive smoothing for decel (lower = smoother)
DECEL_SMOOTH_ALPHA = 0.05 # Very aggressive smoothing for decel (lower = smoother)
ACCEL_SMOOTH_ALPHA = 0.20 # Less aggressive for accel (higher = more responsive)
MAX_DECEL_RATE = 0.15 # Maximum change in decel per timestep (m/s²)
# Asymmetric rate limiting
MAX_DECEL_INCREASE_RATE = 0.06 # When braking harder (m/s² per second)
MAX_DECEL_DECREASE_RATE = 0.15 # When releasing brake (m/s² per second)
class AccelPersonalityController:
@@ -104,9 +108,13 @@ class AccelPersonalityController:
# VERY aggressive smoothing to min accel for ultra-smooth braking
# Also add rate limiting as a safety net
smoothed_decel = (DECEL_SMOOTH_ALPHA * target_min_accel + (1 - DECEL_SMOOTH_ALPHA) * self.last_min_accel)
# Rate limit decel changes and/or prevent sudden jerks
max_change_per_step = MAX_DECEL_RATE * DT_MDL
#Asymmetric rate limiting
decel_change = smoothed_decel - self.last_min_accel
if decel_change < 0:
max_change_per_step = MAX_DECEL_INCREASE_RATE * DT_MDL
else:
max_change_per_step = MAX_DECEL_DECREASE_RATE * DT_MDL
decel_change = np.clip(decel_change, -max_change_per_step, max_change_per_step)
self.last_min_accel = self.last_min_accel + decel_change