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

Smoother braking behind lead

Browse Source 
Added toggle to smooth out the braking behavior when approaching a slower lead vehicle.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent ce3caf5a11
commit 830077af74
5 changed files with 12 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
selfdrive/frogpilot/functions/frogpilot_planner.py
View File

@@ -155,6 +155,7 @@ class FrogPilotPlanner:
self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0
self.aggressive_acceleration = params.get_bool("AggressiveAcceleration") and longitudinal_tune
self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0
self.smoother_braking = params.get_bool("SmoothBraking") and longitudinal_tune
self.map_turn_speed_controller = params.get_bool("MTSCEnabled")