brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Nudgeless lane change + lane detection

Browse Source 
Added toggles for nudgeless lane changes, lane detection, and one lane change per signal activation with a lane change delay factor.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent dd127f97db
commit 05780d0980
5 changed files with 62 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
selfdrive/frogpilot/functions/frogpilot_planner.py
View File

@@ -157,3 +157,8 @@ class FrogPilotPlanner:
self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0
self.map_turn_speed_controller = params.get_bool("MTSCEnabled")
self.nudgeless = params.get_bool("NudgelessLaneChange")
self.lane_change_delay = params.get_int("LaneChangeTime") if self.nudgeless else 0
self.lane_detection = params.get_bool("LaneDetection") if self.nudgeless else False
self.one_lane_change = params.get_bool("OneLaneChange") if self.nudgeless else False