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This commit is contained in:
Jason Wen
2024-08-10 11:17:38 -04:00
parent b32e2c384d
commit e2fd3e109b
2 changed files with 6 additions and 5 deletions
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selfdrive/controls/controlsd.py
+5 -4
View File
@@ -829,11 +829,12 @@ class Controls:
self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and \
(CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and long_plan.hasLead and \
long_plan.aTarget > -0.2 and not (CS.leftBlinker and CS.rightBlinker) and (0.75 < ttc < 3.0)
if ttc <= 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
(CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \
not (CS.leftBlinker and CS.rightBlinker)
if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
overtaking_accel_engaged = False
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged:
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \
long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0):
self.overtaking_accel_engaged = True
elif not overtaking_accel_engaged:
self.overtaking_accel_engaged = False
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+1 -1
View File
@@ -82,7 +82,7 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.3
return 0.25
else:
raise NotImplementedError("Longitudinal personality not supported")