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fix.. dynamicTFollow LC

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ajouatom
2026-02-16 09:59:09 +09:00
parent c8fe2f26c6
commit 72a5031e69
2 changed files with 9 additions and 4 deletions
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11
selfdrive/carrot/carrot_functions.py
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@@ -73,7 +73,7 @@ class CarrotPlanner:
self.traffic_starting_count = 0 self.traffic_starting_count = 0
self.user_stop_distance = -1 self.user_stop_distance = -1
#self.t_follow = 0 self.t_follow_last = 1.5
self.startSignCount = 0 self.startSignCount = 0
self.stopSignCount = 0 self.stopSignCount = 0
@@ -281,8 +281,9 @@ class CarrotPlanner:
self.jerk_factor_apply = self.jerk_factor self.jerk_factor_apply = self.jerk_factor
if self.desireState > 0.9 and self.desireStateCount < int(1.5 / DT_MDL): # lane change state, 1.5초동안만. if self.desireState > 0.9 and self.desireStateCount < int(1.5 / DT_MDL): # lane change state, 1.5초동안만.
t_follow *= self.dynamicTFollowLC # 차선변경시 t_follow를 줄임. dynamicTFollowLC = max(0.2, self.dynamicTFollowLC)
self.jerk_factor_apply = self.jerk_factor * self.dynamicTFollowLC # 차선변경시 jerk factor를 줄여 aggresive하게 t_follow *= dynamicTFollowLC # 차선변경시 t_follow를 줄임.
self.jerk_factor_apply = self.jerk_factor * dynamicTFollowLC # 차선변경시 jerk factor를 줄여 aggresive하게
elif lead.status: elif lead.status:
t_follow += np.interp(prev_a[0], [-2.0, -0.5], [0.1, 0.0]) t_follow += np.interp(prev_a[0], [-2.0, -0.5], [0.1, 0.0])
if self.dynamicTFollow > 0.0: if self.dynamicTFollow > 0.0:
@@ -292,6 +293,10 @@ class CarrotPlanner:
self.jerk_factor_apply = self.jerk_factor * 0.5 # 전방차량을 따라갈때는 aggressive하게. self.jerk_factor_apply = self.jerk_factor * 0.5 # 전방차량을 따라갈때는 aggressive하게.
#self.jerk_factor_apply = np.interp(abs(lead.jLead), [0, 2], [self.jerk_factor, self.jerk_factor * self.j_lead_factor]) #self.jerk_factor_apply = np.interp(abs(lead.jLead), [0, 2], [self.jerk_factor, self.jerk_factor * self.j_lead_factor])
if t_follow > self.t_follow_last:
t_follow = min(t_follow, self.t_follow_last + 0.1 * DT_MDL)
pass
self.t_follow_last = t_follow
return t_follow return t_follow
def update_stop_dist(self, stop_x): def update_stop_dist(self, stop_x):

2
selfdrive/carrot_settings.json
View File

@@ -1583,7 +1583,7 @@
"egroup": "FDIST", "egroup": "FDIST",
"etitle": "Dynamic TFollow LaneChange(100)%", "etitle": "Dynamic TFollow LaneChange(100)%",
"edescr": "Temporarily reduces the gap between vehicles when starting a lane change", "edescr": "Temporarily reduces the gap between vehicles when starting a lane change",
"min": 0, "min": 20,
"max": 100, "max": 100,
"default": 0, "default": 0,
"unit": 5 "unit": 5