Add cost to long plan change for smoother lag comp #22923
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Jonathan suggested constraining the plan up to the lag compensation amount with what we computed previous iteration. Have you experimented with that already? |
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That's what this PR does? |
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This does a cost for the whole horizon right? I meant a very high cost only up to |
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I'm trying up to 1second now. Don't really like the idea of it being car dependent. Then all the tests and cost tuning is car dependent. |
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Just tested a few times since there's not a lot of traffic, but coming to a stop seems to be much smoother. Used to over brake and then slowly creep up. Could be placebo but seems better so far. Excited to try it in traffic |
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@sshane Especially for large lags it should make a big difference :) |
sshane
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Nov 17, 2021
* add plan changing cost * fix compile * set weights * try this cost * horizon problem * looks pretty good * update refs * update refs * smoother plan changes
krkeegan
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Nov 23, 2021
This is a combination of 16 commits. Add cost to long plan change for smoother lag comp (commaai#22923) * add plan changing cost * fix compile * set weights * try this cost * horizon problem * looks pretty good * update refs * update refs * smoother plan changes try new tune simple and ok general cleanup unused add lag small touches integrators are bad only rav4 has sensitive gas gravity compensation this seems to not work whitespace tss2 as well cant trust toyota api HIGHLANDER is like RAV4 v_pid being from the future makes little sense
krkeegan
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Nov 23, 2021
This is a combination of 16 commits. Add cost to long plan change for smoother lag comp (commaai#22923) * add plan changing cost * fix compile * set weights * try this cost * horizon problem * looks pretty good * update refs * update refs * smoother plan changes try new tune simple and ok general cleanup unused add lag small touches integrators are bad only rav4 has sensitive gas gravity compensation this seems to not work whitespace tss2 as well cant trust toyota api HIGHLANDER is like RAV4 v_pid being from the future makes little sense
krkeegan
pushed a commit
to krkeegan/openpilot
that referenced
this pull request
Nov 23, 2021
This is a combination of 16 commits. Add cost to long plan change for smoother lag comp (commaai#22923) * add plan changing cost * fix compile * set weights * try this cost * horizon problem * looks pretty good * update refs * update refs * smoother plan changes try new tune simple and ok general cleanup unused add lag small touches integrators are bad only rav4 has sensitive gas gravity compensation this seems to not work whitespace tss2 as well cant trust toyota api HIGHLANDER is like RAV4 v_pid being from the future makes little sense
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