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fix with T_IDXS

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This commit is contained in:
Jason Wen
2023-10-23 20:22:49 -04:00
parent c006e24599
commit c8cefa4af1
2 changed files with 5 additions and 5 deletions
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selfdrive/controls/lib/speed_limit_controller.py
+3 -3
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@@ -8,7 +8,7 @@ from common.params import Params
from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
LIMIT_MAX_MAP_DATA_AGE, CONTROL_N
from selfdrive.controls.lib.events import Events, ET
from selfdrive.modeld.constants import T_IDXS
from openpilot.selfdrive.modeld.constants import ModelConstants
_PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates.
@@ -389,11 +389,11 @@ class SpeedLimitController():
if self.distance > 0:
a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance)
else:
a_target = self._v_offset / T_IDXS[CONTROL_N]
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
# active
elif self.state == SpeedLimitControlState.active:
# When active we are trying to keep the speed constant around the control time horizon.
a_target = self._v_offset / T_IDXS[CONTROL_N]
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
# Keep solution limited.
self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC)
selfdrive/controls/lib/turn_speed_controller.py
+2 -2
View File
@@ -4,7 +4,7 @@ from common.params import Params
from cereal import custom
from selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \
LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC
from selfdrive.modeld.constants import T_IDXS
from openpilot.selfdrive.modeld.constants import ModelConstants
_ACTIVE_LIMIT_MIN_ACC = -0.5 # m/s^2 Maximum deceleration allowed while active.
@@ -223,7 +223,7 @@ class TurnSpeedController():
elif self.state == TurnSpeedControlState.active:
# When active we are trying to keep the speed constant around the control time horizon.
# but under constrained acceleration limits since we are in a turn.
a_target = self._v_offset / T_IDXS[CONTROL_N]
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
a_target = np.clip(a_target, _ACTIVE_LIMIT_MIN_ACC, _ACTIVE_LIMIT_MAX_ACC)
# update solution values.