brianhansonxyz/oscarpilot
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Aggressive acceleration with a lead

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Added toggle to make the acceleration more aggressive when following a lead.
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FrogAi
2024-01-12 22:39:30 -07:00
parent 7383ee0ddc
commit c1a7f1e3b0
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'], v_cruise, x, v, a, j, personality=self.personality)
self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, frogpilot_planner.aggressive_acceleration, personality=self.personality)
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)