mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-22 15:23:53 +08:00
49 lines
2.1 KiB
Python
49 lines
2.1 KiB
Python
from common.numpy_fast import interp
|
|
from common.params import Params
|
|
|
|
DP_ACCEL_STOCK = 0
|
|
DP_ACCEL_ECO = 1
|
|
DP_ACCEL_NORMAL = 2
|
|
DP_ACCEL_SPORT = 3
|
|
|
|
# accel profile by @arne182 modified by cgw
|
|
_DP_CRUISE_MIN_V = [-0.765, -0.765, -0.80, -0.80, -0.75, -0.70]
|
|
_DP_CRUISE_MIN_V_ECO = [-0.760, -0.760, -0.76, -0.76, -0.70, -0.65]
|
|
_DP_CRUISE_MIN_V_SPORT = [-0.770, -0.770, -0.90, -1.00, -0.90, -0.80]
|
|
_DP_CRUISE_MIN_BP = [0., 15.66, 17.88, 20., 30., 55.]
|
|
#DP_CRUISE_MIN_BP in mph=[0., 18, 35, 40, 45, 67, 123]
|
|
|
|
_DP_CRUISE_MAX_V = [3.4, 2.8, 1.8, 1.4, 1.06, .88, .68, .46, .35, .13]
|
|
_DP_CRUISE_MAX_V_ECO = [3.2, 2.6, 1.6, 1.2, .76, .62, .48, .36, .28, .09]
|
|
_DP_CRUISE_MAX_V_SPORT = [3.5, 3.0, 2.4, 2.9, 2.1, 1.7, 1.3, .9, .7, .5]
|
|
_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
|
|
#DP_CRUISE_MAX_BP in mph=[0., 6.7, 13, 18, 25, 33, 45, 56, 67, 123]
|
|
|
|
|
|
class AccelController:
|
|
|
|
def __init__(self):
|
|
self._params = Params()
|
|
self._dp_long_accel_profile = DP_ACCEL_STOCK
|
|
|
|
def read_params(self):
|
|
try:
|
|
self._dp_long_accel_profile = int(self._params.get("dp_long_accel_profile", encoding='utf-8'))
|
|
except (KeyError, TypeError, ValueError):
|
|
self._dp_long_accel_profile = DP_ACCEL_STOCK
|
|
|
|
def _dp_calc_cruise_accel_limits(self, v_ego):
|
|
if self._dp_long_accel_profile == DP_ACCEL_ECO:
|
|
a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_ECO)
|
|
a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_ECO)
|
|
elif self._dp_long_accel_profile == DP_ACCEL_SPORT:
|
|
a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V_SPORT)
|
|
a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V_SPORT)
|
|
else:
|
|
a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, _DP_CRUISE_MIN_V)
|
|
a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, _DP_CRUISE_MAX_V)
|
|
return a_cruise_min, a_cruise_max
|
|
|
|
def get_accel_limits(self, v_ego, accel_limits):
|
|
return accel_limits if self._dp_long_accel_profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
|