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Smoother braking behind lead

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Added toggle to smooth out the braking behavior when approaching a slower lead vehicle.
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FrogAi
2024-01-12 22:39:30 -07:00
parent ce3caf5a11
commit 830077af74
5 changed files with 12 additions and 3 deletions
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selfdrive/controls/lib/longitudinal_planner.py
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@@ -139,7 +139,7 @@ class LongitudinalPlanner:
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
self.mpc.update(sm['radarState'], frogpilot_planner.v_cruise, x, v, a, j, frogpilot_planner.aggressive_acceleration, frogpilot_planner.increased_stopping_distance,
self.mpc.update(sm['radarState'], frogpilot_planner.v_cruise, x, v, a, j, frogpilot_planner.aggressive_acceleration, frogpilot_planner.increased_stopping_distance, frogpilot_planner.smoother_braking,
frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_follow, frogpilot_planner.standard_follow, frogpilot_planner.relaxed_follow, personality=self.personality)
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)