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Smoother braking behind lead

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Added toggle to smooth out the braking behavior when approaching a slower lead vehicle.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 80682a206c
commit 506cbb87e8
5 changed files with 14 additions and 2 deletions
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1
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -164,6 +164,7 @@ class FrogPilotPlanner:
self.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tune else 0
self.aggressive_acceleration = longitudinal_tune and params.get_bool("AggressiveAcceleration")
self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0
self.smoother_braking = longitudinal_tune and params.get_bool("SmoothBraking")
self.map_turn_speed_controller = params.get_bool("MTSCEnabled")
if self.map_turn_speed_controller:

1
selfdrive/frogpilot/ui/control_settings.cc
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@@ -37,6 +37,7 @@ 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.", ""},
{"SmoothBraking", "Smoother Braking Behind Lead", "Smoothen out the braking behavior when approaching slower vehicles.", ""},
{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},

2
selfdrive/frogpilot/ui/control_settings.h
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@@ -43,7 +43,7 @@ private:
std::set<QString> fireTheBabysitterKeys = {"NoLogging", "MuteOverheated", "NoUploads", "OfflineMode"};
std::set<QString> laneChangeKeys = {"LaneChangeTime", "LaneDetection", "LaneDetectionWidth", "OneLaneChange"};
std::set<QString> lateralTuneKeys = {"ForceAutoTune", "NNFF"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
std::set<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "SmoothBraking", "StoppingDistance"};
std::set<QString> mtscKeys = {"DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit"};
std::set<QString> qolKeys = {"DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "SetSpeedOffset"};
std::set<QString> speedLimitControllerKeys = {};