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Custom driving personality profiles

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Added toggles to customize the driving personality profiles.
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FrogAi
2024-01-12 22:39:30 -07:00
parent ccf674762e
commit fb8103b646
7 changed files with 109 additions and 22 deletions
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5
selfdrive/controls/lib/longitudinal_planner.py
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@@ -135,11 +135,12 @@ class LongitudinalPlanner:
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
self.mpc.set_weights(frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_jerk, frogpilot_planner.standard_jerk, frogpilot_planner.relaxed_jerk, prev_accel_constraint, personality=self.personality)
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, frogpilot_planner.aggressive_acceleration, personality=self.personality)
self.mpc.update(sm['radarState'], frogpilot_planner.v_cruise, x, v, a, j, frogpilot_planner.aggressive_acceleration,
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)
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)