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2024-05-18 00:32:24 -05:00
parent 52b6f7abea
commit 41b4f73622
8 changed files with 194 additions and 69 deletions
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selfdrive/frogpilot/controls/frogpilot_planner.py
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@@ -247,6 +247,7 @@ class FrogPilotPlanner:
frogpilotPlan.accelerationJerk = A_CHANGE_COST * (float(self.jerk) if self.lead_one.status else 1)
frogpilotPlan.accelerationJerkStock = A_CHANGE_COST
# clearpilot: adjustedcruise is the max speed based on vision turn speed control (eval)
frogpilotPlan.adjustedCruise = float(min(self.mtsc_target, self.vtsc_target) * (CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH))
frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
frogpilotPlan.desiredFollowDistance = self.safe_obstacle_distance - self.stopped_equivalence_factor