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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.
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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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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: