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Tweak lead detection threshold

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Added toggle to tweak the lead detection threshold to either detect leads sooner, or increase model confidence.
This commit is contained in:
FrogAi
2024-03-15 20:53:30 -07:00
parent bed144260f
commit 40a36dfcde
4 changed files with 23 additions and 6 deletions
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3
selfdrive/frogpilot/ui/control_settings.cc
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@@ -40,6 +40,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"DecelerationProfile", "Deceleration Profile", "Change the deceleration rate to be either sporty or eco-friendly.", ""},
{"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
{"StoppingDistance", "Increase Stop Distance Behind Lead", "Increase the stopping distance for a more comfortable stop from lead vehicles.", ""},
{"LeadDetectionThreshold", "Lead Detection Threshold", "Increase or decrease the lead detection threshold to either detect leads sooner, or increase model confidence.", ""},
{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},
{"TrafficMode", "Traffic Mode", "Hold down the 'distance' button for 2.5 seconds to enable more aggressive driving behavior catered towards stop and go traffic.", ""},
@@ -254,6 +255,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
toggle = profileSelection;
} else if (param == "StoppingDistance") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
} else if (param == "LeadDetectionThreshold") {
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 100, std::map<int, QString>(), this, false, "%");
} else if (param == "Model") {
modelSelectorButton = new FrogPilotButtonIconControl(title, tr("SELECT"), desc, icon);

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -45,7 +45,7 @@ private:
std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads", "OfflineMode"};
std::set<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetection", "LaneDetectionWidth", "OneLaneChange"};
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF", "UseLateralJerk"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance", "TrafficMode"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "LeadDetectionThreshold", "SmoothBraking", "StoppingDistance", "TrafficMode"};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
std::set<QString> speedLimitControllerKeys = {"SLCControls", "SLCQOL", "SLCVisuals"};