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Merge branch 'hkg-can-jerk' into master-dev-c3

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This commit is contained in:
Jason Wen
2024-07-29 07:18:30 -04:00
parent 41d0ee236d 4a2b96ae4e
commit f92bc4b760
1 changed files with 2 additions and 8 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -8
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@@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST)
FCW_IDXS = T_IDXS < 5.0
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0
STOP_DISTANCE = 8.0
def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -102,17 +102,11 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
return np.interp(v_ego, x_vel, y_dist)
def get_stop_distance(v_ego):
v_ego = np.asarray(v_ego)
stop_distance = np.where(v_ego < 1.5, 8.0, STOP_DISTANCE)
return stop_distance
def get_stopped_equivalence_factor(v_lead):
return (v_lead**2) / (2 * COMFORT_BRAKE)
def get_safe_obstacle_distance(v_ego, t_follow):
stop_distance = get_stop_distance(v_ego)
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance
return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
def desired_follow_distance(v_ego, v_lead, t_follow=None):
if t_follow is None: