Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix FOLLOW mode so it doesn't crash (NOT tuned yet) #11

Closed
wants to merge 2 commits into from
Closed

Fix FOLLOW mode so it doesn't crash (NOT tuned yet) #11

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
62856f3
Pedal FOLLOW mode fixes
bitshop Oct 19, 2018
98ce9a3
PCC Follow: Fix steering angle var
bitshop Oct 19, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 8 additions & 8 deletions selfdrive/car/tesla/PCC_module.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -260,11 +260,9 @@ def update_stat(self,CS, enabled, sendcan):
# max ACC speed. If actual speed is already 50, the code also increases
# the max cruise speed.
if CS.cruise_buttons == CruiseButtons.RES_ACCEL:
requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + speed_uom_kph
self.pedal_speed_kph = max(self.pedal_speed_kph, requested_speed_kph)
self.pedal_speed_kph += speed_uom_kph
elif CS.cruise_buttons == CruiseButtons.RES_ACCEL_2ND:
requested_speed_kph = CS.v_ego * CV.MS_TO_KPH + 5 * speed_uom_kph
self.pedal_speed_kph = max(self.pedal_speed_kph, requested_speed_kph)
self.pedal_speed_kph += 5 * speed_uom_kph
elif CS.cruise_buttons == CruiseButtons.DECEL_SET:
self.pedal_speed_kph -= speed_uom_kph
elif CS.cruise_buttons == CruiseButtons.DECEL_2ND:
Expand Down Expand Up @@ -343,7 +341,7 @@ def update_pdl(self,enabled,CS,frame,actuators,pcm_speed):
accel_limits = map(float, calc_cruise_accel_limits(CS.v_ego, following))
# TODO: make a separate lookup for jerk tuning
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
accel_limits = limit_accel_in_turns(CS.vEgo, CS.steeringAngle, accel_limits, self.CP)
accel_limits = limit_accel_in_turns(CS.v_ego, CS.angle_steers, accel_limits, CS.CP)
v_cruise_setpoint = self.v_pid
self.v_cruise, self.a_cruise = speed_smoother(self.v_acc_start, self.a_acc_start,
v_cruise_setpoint,
Expand All @@ -354,7 +352,7 @@ def update_pdl(self,enabled,CS,frame,actuators,pcm_speed):
# cruise speed can't be negative even is user is distracted
self.v_cruise = max(self.v_cruise, 0.)
else:
a_ego = min(CS.aEgo, 0.0)
a_ego = min(CS.a_ego, 0.0)
reset_speed = CS.v_ego
reset_accel = a_ego
self.v_acc = reset_speed
Expand Down Expand Up @@ -387,8 +385,10 @@ def update_pdl(self,enabled,CS,frame,actuators,pcm_speed):
vTarget = self.v_acc_sol
vTargetFuture = self.v_acc_future
prevent_overshoot = not CS.CP.stoppingControl and CS.v_ego < 1.5 and vTargetFuture < 0.7
output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, override=override, deadzone=deadzone, feedforward= a_target, freeze_integrator=prevent_overshoot)
self.v_pid = CS.v_ego

output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, override=override, deadzone=deadzone, feedforward= aTarget, freeze_integrator=prevent_overshoot)
# Is this the goal?
self.v_pid = v_ego_pid
if prevent_overshoot:
output_gb = min(output_gb, 0.0)
##############################################################
Expand Down