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Display openpilot logics for following lead vehicles

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Added toggle to show openpilot's logic in regards to following lead vehicles.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 480efba54c
commit f59a61cc8f
10 changed files with 196 additions and 6 deletions
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5
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -94,6 +94,11 @@ class FrogPilotPlanner:
frogpilotPlan.conditionalExperimental = self.cem.experimental_mode
frogpilotPlan.desiredFollowDistance = mpc.safe_obstacle_distance - mpc.stopped_equivalence_factor
frogpilotPlan.safeObstacleDistance = mpc.safe_obstacle_distance
frogpilotPlan.safeObstacleDistanceStock = mpc.safe_obstacle_distance_stock
frogpilotPlan.stoppedEquivalenceFactor = mpc.stopped_equivalence_factor
frogpilotPlan.laneWidthLeft = self.lane_width_left
frogpilotPlan.laneWidthRight = self.lane_width_right