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Acceleration/deceleration profiles

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Added toggle to use DragonPilot's acceleration/deceleration profiles.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-03-06 17:50:06 -07:00
parent f01d5fb25a
commit 121fd2d246
30 changed files with 259 additions and 31 deletions
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5
selfdrive/car/gm/carcontroller.py
View File

@@ -93,7 +93,10 @@ class CarController:
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
if frogpilot_variables.sport_plus:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop

7
selfdrive/car/gm/interface.py
View File

@@ -32,8 +32,11 @@ NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_variables):
if frogpilot_variables.sport_plus:
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS
else:
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod

5
selfdrive/car/gm/values.py
View File

@@ -33,6 +33,7 @@ class CarControllerParams:
# Our controller should still keep the 2 second average above
# -3.5 m/s^2 as per planner limits
ACCEL_MAX = 2. # m/s^2
ACCEL_MAX_PLUS = 4. # m/s^2
ACCEL_MIN = -4. # m/s^2
def __init__(self, CP):
@@ -42,6 +43,7 @@ class CarControllerParams:
if CP.carFingerprint in CAMERA_ACC_CAR:
self.MAX_GAS = 3400
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
# Camera ACC vehicles have no regen while enabled.
@@ -50,6 +52,7 @@ class CarControllerParams:
else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 1404
# ICE has much less engine braking force compared to regen in EVs,
@@ -57,7 +60,9 @@ class CarControllerParams:
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]