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55 lines
1.6 KiB
55 lines
1.6 KiB
from common.numpy_fast import clip, interp
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from selfdrive.config import Conversions as CV
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from cereal import car
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# kph
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V_CRUISE_MAX = 144
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V_CRUISE_MIN = 8
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V_CRUISE_DELTA = 8
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V_CRUISE_ENABLE_MIN = 40
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MPC_N = 16
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CAR_ROTATION_RADIUS = 1.5
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class MPC_COST_LAT:
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PATH = 1.0
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HEADING = 1.0
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STEER_RATE = 1.0
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class MPC_COST_LONG:
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TTC = 5.0
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DISTANCE = 0.1
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ACCELERATION = 10.0
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JERK = 20.0
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def rate_limit(new_value, last_value, dw_step, up_step):
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return clip(new_value, last_value + dw_step, last_value + up_step)
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def get_steer_max(CP, v_ego):
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return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
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def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
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# handle button presses. TODO: this should be in state_control, but a decelCruise press
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# would have the effect of both enabling and changing speed is checked after the state transition
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for b in buttonEvents:
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if enabled and not b.pressed:
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if b.type == car.CarState.ButtonEvent.Type.accelCruise:
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v_cruise_kph += V_CRUISE_DELTA - (v_cruise_kph % V_CRUISE_DELTA)
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elif b.type == car.CarState.ButtonEvent.Type.decelCruise:
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v_cruise_kph -= V_CRUISE_DELTA - ((V_CRUISE_DELTA - v_cruise_kph) % V_CRUISE_DELTA)
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v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
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return v_cruise_kph
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def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
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for b in buttonEvents:
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# 250kph or above probably means we never had a set speed
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if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
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return v_cruise_last
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return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
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