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Conditional Experimental Mode

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Added toggles for "Conditional Experimental Mode".

Conditions based on road curvature, turn signals, speed, lead speed, navigation instructions, and stop signs/stop lights are all individually toggleable.

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
2024-02-28 19:46:38 -07:00
parent 89e6ebdf12
commit 50cc95341d
18 changed files with 423 additions and 8 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -337,6 +337,7 @@ class LongitudinalMpc:
def update(self, radarstate, v_cruise, x, v, a, j, frogpilot_planner, personality=log.LongitudinalPersonality.standard):
t_follow = get_T_FOLLOW(personality)
self.t_follow = t_follow
v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status