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Longitudinal planner: clip a_desired to cruise limits (#25928)

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* Clip a_desired to cruise limits

* Update selfdrive/controls/lib/longitudinal_planner.py

* fix

* update refs

* explicit
old-commit-hash: 4bd146ee7af639f4a49e3d5cdeeab4ed022190ec
This commit is contained in:
Shane Smiskol
2022-09-30 15:43:04 -07:00
committed by GitHub
parent 02428ca744
commit ae2f2add1d
3 changed files with 8 additions and 6 deletions
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10
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python3
import math
import numpy as np
from common.numpy_fast import interp
from common.numpy_fast import clip, interp
import cereal.messaging as messaging
from common.conversions import Conversions as CV
@@ -106,15 +106,17 @@ class LongitudinalPlanner:
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if reset_state:
self.v_desired_filter.x = v_ego
self.a_desired = 0.0
# Clip aEgo to cruise limits to prevent large accelerations when becoming active
self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
# Prevent divergence, smooth in current v_ego
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
5d33199905cbf9d9b45ef722a40530b08d5cecf4
53079010a5db8105854212157b5ee90029df7b92

2
selfdrive/test/process_replay/test_processes.py
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@@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6
("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2