121fd2d246
Added toggle to use DragonPilot's acceleration/deceleration profiles. Credit goes to DragonPilot! https: //github.com/dragonpilot-community/dragonpilot Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com> Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
46 lines
1.6 KiB
Python
46 lines
1.6 KiB
Python
import numpy as np
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from openpilot.common.numpy_fast import interp
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from openpilot.common.params import Params
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from openpilot.system.hardware import HARDWARE
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params_memory = Params("/dev/shm/params")
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CITY_SPEED_LIMIT = 25
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CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive
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PROBABILITY = 0.6 # 60% chance of condition being true
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THRESHOLD = 5 # Time threshold (0.25s)
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# Acceleration profiles - Credit goes to the DragonPilot team!
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# MPH = [0., 18, 36, 63, 94]
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A_CRUISE_MIN_BP_CUSTOM = [0., 8., 16., 28., 42.]
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# MPH = [0., 6.71, 13.4, 17.9, 24.6, 33.6, 44.7, 55.9, 67.1, 123]
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A_CRUISE_MAX_BP_CUSTOM = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
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A_CRUISE_MIN_VALS_ECO = [-0.001, -0.010, -0.28, -0.56, -0.56]
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A_CRUISE_MAX_VALS_ECO = [3.5, 3.2, 2.3, 2.0, 1.15, .80, .58, .36, .30, .091]
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A_CRUISE_MIN_VALS_SPORT = [-0.50, -0.52, -0.55, -0.57, -0.60]
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A_CRUISE_MAX_VALS_SPORT = [3.5, 3.5, 3.3, 2.8, 1.5, 1.0, .75, .6, .38, .2]
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class FrogPilotFunctions:
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def __init__(self) -> None:
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self.params = Params()
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@staticmethod
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def get_min_accel_eco(v_ego):
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return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_ECO)
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@staticmethod
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def get_max_accel_eco(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
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@staticmethod
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def get_min_accel_sport(v_ego):
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return interp(v_ego, A_CRUISE_MIN_BP_CUSTOM, A_CRUISE_MIN_VALS_SPORT)
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@staticmethod
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def get_max_accel_sport(v_ego):
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return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT)
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