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Reaction buffer on follow distance (#23112)

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* Reaction time buffer

* new ref
pull/23119/head
HaraldSchafer 3 years ago committed by GitHub
parent 37e2de2244
commit 5b0e10ea33
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2 changed files with 6 additions and 4 deletions
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  1. 8
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  2. 2
      selfdrive/test/process_replay/ref_commit

8
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -49,14 +49,16 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N
T_IDXS = np.array(T_IDXS_LST) T_IDXS = np.array(T_IDXS_LST)
T_DIFFS = np.diff(T_IDXS, prepend=[0.]) T_DIFFS = np.diff(T_IDXS, prepend=[0.])
MIN_ACCEL = -3.5 MIN_ACCEL = -3.5
T_REACT = 1.45 T_REACT = 0.5
T_FOLLOW = 1.45
COMFORT_BRAKE = 2.0 COMFORT_BRAKE = 2.0
STOP_DISTANCE = 6.0
def get_stopped_equivalence_factor(v_lead): def get_stopped_equivalence_factor(v_lead):
return v_lead**2 / (2 * COMFORT_BRAKE) - T_REACT * v_lead return v_lead**2 / (2 * COMFORT_BRAKE) - (T_FOLLOW - T_REACT) * v_lead
def get_safe_obstacle_distance(v_ego): def get_safe_obstacle_distance(v_ego):
return (v_ego*v_ego) / (2 * COMFORT_BRAKE) + 6.0 return (v_ego*v_ego) / (2 * COMFORT_BRAKE) + T_REACT * v_ego + STOP_DISTANCE
def desired_follow_distance(v_ego, v_lead): def desired_follow_distance(v_ego, v_lead):
return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
fb4318e66ce98c9bc267b0778d9238265c1c5b17 6ab94cfcfe183a09e75e9f8b67a7ee2a2d3630df
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