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openpilot_comma
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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/modeld/constants.py

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Refactor lateral lag compensation (#21334) * add T_IDXS * refactor * fix test * unused * typo * needs casting * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * deprecate field * regen all * new segs * add todo * split back * clean * bad names * do in controls * add arg Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
IDX_N = 33
logcatd, loggerd, mapd, modeld, proclogd
5 years ago
ACADOS fix non-convergence when long_plan changes (#22495) * debug commit * cleanup * some indexing bugs * need more its * BALANCE is way better it seems * fix test * this converges in 2000segs * new ref * less cpu
4 years ago
def index_function(idx, max_val=192, max_idx=32):
return (max_val) * ((idx/max_idx)**2)
Refactor lateral lag compensation (#21334) * add T_IDXS * refactor * fix test * unused * typo * needs casting * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * deprecate field * regen all * new segs * add todo * split back * clean * bad names * do in controls * add arg Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
4 years ago
less np (#21536)
4 years ago
T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
WIP try modeld all in python
2 years ago
X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
add lead prob
2 years ago
LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
LEAD_T_OFFSETS = [0., 2., 4.]
META_T_IDXS = [2., 4., 6., 8., 10.]