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Traffic Mode

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Added toggle to change the longitudinal behavior to be more focused on driving in traffic.
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FrogAi
2024-03-15 19:56:43 -07:00
parent 3e5c66abeb
commit bed144260f
13 changed files with 64 additions and 25 deletions
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selfdrive/controls/controlsd.py
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@@ -1240,6 +1240,7 @@ class Controls:
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
self.frogpilot_variables.traffic_mode = longitudinal_tune and self.params.get_bool("TrafficMode")
self.lane_detection = self.params.get_bool("LaneDetection") and self.params.get_bool("NudgelessLaneChange")
self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if self.is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0