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Limit lateral acceleration in turns to regulated maximum #3

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2 of 9 tasks
alfhern opened this issue Aug 28, 2020 · 0 comments
Open
2 of 9 tasks

Limit lateral acceleration in turns to regulated maximum #3

alfhern opened this issue Aug 28, 2020 · 0 comments
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enhancement New feature or request

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@alfhern
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alfhern commented Aug 28, 2020 •
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  • Instantaneous acceleration limits control to consider regulation for maximum lateral acceleration.
    • Modify the planner acceleration limits in turns to make sure car does not exceeds lateral acceleration limits specified in regulation.
    • In case of instantaneous lateral acceleration being greater than maximum allowed, set max acceleration limit to be a value to provide a smooth deceleration on turns.
    • Research an appropriate value for a smooth deceleration in turns when going too fast.
    • Add UI elements to visualise this for testing purposes. Perhaps also on reply ui.
    • Add tests.
  • Consider turns ahead prediction for limiting acceleration in a way that braking should be done before entering a turn when the speed is too hight to comply with maximum lateral acceleration.
    • Calculate lateral acceleration on path ahead based on path poly by path planner.
    • Limit acceleration accordingly to ensure entering turns ahead at a speed that will not produce a lateral acceleration grater than maximum allows.
@alfhern alfhern added the enhancement New feature or request label Aug 28, 2020
alfhern pushed a commit that referenced this issue Sep 2, 2022
@jeroenlammersma @sshane
@pd0wm @sunnyhaibin @adeebshihadeh @JMPZ11 @incognitojam @ReFil @wjoseph0 @gregjhogan @deanlee @AlexandreSato @taperec
Add Dutch translations (Nederlands) (commaai#25327)
272b6cc 
* Add Dutch translations (Nederlands)

* Dutch translation improvements

* Use Qt's plurals

* Improvements to translations

Thanks for the review Willem!

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Shortened a translation to fit screen

Shortened 'Show map on left side when in split screen view.' translation

* update translations

* Shortened 2 translations

* Fix test

* Changed 'CONTROLEREN' to 'CONTROLEER'

* Merge remote-tracking branch 'upstream/master' into dutch-translations (#3)

* Rename KIA_NIRO_HEV to KIA_NIRO_PHEV (commaai#24216)

* Add car port: Kia Niro Plug-In Hybrid 2018

* Add additional FW version

* Low speed lockout 32 MPH

* Add test route

* min_steer_speed in CarInfo

* Remove min_steer_speed from CarInfo

* Add to CARS.md

* run generator

* update min enable speed and regen

* update ci routes

* these are the same car

* i think we only add a note if it's a new platform

* fix HEV -> PHEV

* Add test route

* dup fw

* haha we already support this car in commaai#25187

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* GM pcmCruise: cancel more reliably (commaai#25454)

* Cancel more reliably

* Apply suggestions from code review

* Try sending multiple

* Apply suggestions from code review

* Apply suggestions from code review

* Update selfdrive/car/gm/carcontroller.py

* lower rate a bit

* try this

* Update selfdrive/car/gm/carcontroller.py

* bump panda

* Car docs: add more videos (commaai#25494)

* Add Civic video

* add mazda cx-9 2022 video link

* GM Bolt EUV: update supported packages (commaai#25496)

* Update values.py

* Update selfdrive/car/gm/values.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* update docs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Hyundai: common CAN-FD gear signal (commaai#25498)

* Hyundai: common CAN-FD gear signal

* bump opendbc

* GM: Chevy Silverado 2020-21 support (commaai#25429)

* Silverado support

Co-authored-by: Jason Shuler <jshuler@gmail.com>

* Update docs

* Try 2 m/s/s

* Should be good torque values

* Add Silverado test route

* Add to releases

* Send counter

* can't send multiple or it faults

* Send at 33hz, no counter

* try 25hz, don't line up exactly with car's buttons

* never tried 10hz with same counter

* Update selfdrive/car/gm/gmcan.py

* Make same as pcmCruise branch

* update year and package (different packages needed per-trim)

* Update year in releases

* Revert to 21

* We can use this package name again

* wrong one!

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* Show CAN error if message counters are invalid (commaai#25497)

* counter check affects can valid

* Apply suggestions from code review

* bump to master

* Hyundai: Car Port for Tucson Hybrid 2022 (commaai#25276)

* Hyundai: Car Port for Tucson Hybrid 2022

* Update RELEASES.md

* Init gear_msg at the top

* FW versions from script

* Button send attempt

* start with some cleanup

* Send button fixed bits

* Define all bytes and only send PAUSE/RESUME

* Use CRUISE_INFO to cancel cruise and resume

* 8-bit counter

* Cleanup ish

* 8 bit counter

* Send at 20ms

* Disengage bits

* Revert bump submodules

* Allow tx on 0x1a0

* Fix byte counts

* Send LFA and HDA icons based on engageability

* Send cruise buttons only on HDA2 cars for now

* Add comments

* Add FLAG_HYUNDAI_CANFD_HDA2 flag

* Update interface.py

* Update carstate.py

* Update carstate.py

* Update carstate.py

* Bump submodules

* Bump panda

* Bump opendbc

* Allow tx with CRUISE_INACTIVE

* GEAR has 24 bytes only

* Generate car docs

* Fix CRUISE_INFO copy

* Remove unused class

* Add CAN-FD busses to unit test

* Bump opendbc

* Revert "Add CAN-FD busses to unit test"

This reverts commit 2f75164.

* Remove duplicate

* New tune based on data

* Panda safety cleanup

* Include bus 0 in rx checks

* Missed one

* bus 6 check

* Remove redundant check

* Add comments

* Bump opendbc

* Sync with DBC

* Hide LFA icon when disengaged

* Little endian

* fix comment

* more conditions in carcontroller

* update pedal signal

* update tuning

* cleanup carcontroller

* bump panda

* fix mismatch

* alt buttons

* little more cleanup

* update refs for EV6 new safety param

* bump panda

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* remove old boardd stuff

* Ford: add CADS radar interface (commaai#24296)

* Ford: use FORD_CADS radar dbc

* Ford: CADS radar interface impl

Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>

* fixup radar interface for FORD_CADS dbc

* CADS treat different scan indexes as separate points

* Ford: support both Fusion and CADS radars

* Ford: rename radars to DELPHI_ESR and DELPHI_MRR

Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>

* 0.8.16 release notes

* test_models: no CAN invalid tolerance (commaai#25501)

* don't use end of route segment

* no can invalid cnt tolerance

* start checking can valid immediately once available

* we check counter violations

* README.md: update grammar (commaai#25488)

* first paragraph

* second section

* second section pt2

* third section

* fifth section

* fifth section pt2

* sixth section

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* setup: perform all pyenv setup in a single place (commaai#23408)

* consolidate pyenv setup

* cleanup openpilot_env.sh

* undo openpilot_env.sh changes

* needed on mac

* add that back

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* v4l_encoder: free buf_out in destructor (commaai#25044)

* test onroad: update dmonitoringd cpu usage

* CI: Actions cleanup + speedup (commaai#25514)

* actions cache cleanup

* release build cleanup

* fetch dpeth

* sim: fix gps message (commaai#25521)

fix gps timestamp field renamed

bug introduced in commaai/msgq#341

* GMC: Sierra 2020-21 support (commaai#25523)

* Add Sierra

* actually this package works

* add to releases

* credit

* GM: add Silverado 2021 High Country FP (commaai#25499)

* Add FP from 61c6258cac78af08

* add to dict

* Update Silverado release note (commaai#25526)

* Translations badges: concatenate into one badge (commaai#25522)

* add badge

done correctly

works

Update translation_badge.svg
Update translation_badge.svg
Update translation_badge.svg
Update README.md
Update translation_badge.svg
Update translation_badge.svg
Update translation_badge.svg
Update badge

Update README.md
test this

try this

finalize

remove badges

fixup readme

add to test

fix

fix

rm

* clean up

* no formats

* Fix badge workflow

* user event flagging (commaai#25517)

* setup home_btn in sidebar

* create UserFlag msg

* replay: show and skip to user flags

* update translations

* bump to cereal master

* remove comment

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* Update translations

* Toyota: add missing engine and esp FW for Corolla Cross Hybrid (commaai#25532)

add missing engine and esp FW for CorollaCross Hybrid

DongleId 147613502316e718

* HKG: Add FW for 2018 Kia Stinger (commaai#25531)

* HKG: Add FW for 2008 Kia Stinger

* 2018 in disguise

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* test_models: pass carFw into car interface (commaai#25535)

pass carFw into get_params

* Add Thai translations (commaai#25189)

* Add Thai translations

* update to add plurals

remove

* Update translations

* Update Thai translation to match English source.

* Add to badges

* use shorter km/h

* Add test for correct format specifier for plural translations

* pass new test

* Update some sentences to make it clear.
Change short form of some words.

* Hide from the UI

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* update car candidate docs (commaai#25536)

* update car candidate docs

* little more

* that's a nice wikipedia

* quotes

* Silence a PytestCollectionWarning (commaai#25537)

Silence PytestCollectionWarning: cannot collect test class 'TestRoute' because it has a __new__ constructor (from: test_models.py)

* bump version to 0.8.17

* Toyota: log stockAeb on non-TSS2 cars (commaai#25489)

* check PRE_COLLISION

* need to make sure this is right

* revert

* temp, stash

* fixes

* uncomment that

* it's not really cruise/pcm, but acc

remove improt

* revert

* Fix CI

* revert exception

* Revert "revert exception"

This reverts commit 7e2f390.

* this tested enableDsu, but we have other routes that do that

* use segment from db

* remove exception again

Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Jason Shuler <jshuler@gmail.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>
Co-authored-by: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com>
Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: Rewat S <76684800+taperec@users.noreply.github.com>

* Update translations

* Update selfdrive/ui/translations/languages.json

Co-authored-by: Shane Smiskol <shane@smiskol.com>

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Jason Shuler <jshuler@gmail.com>
Co-authored-by: Cameron Clough <cameronjclough@gmail.com>
Co-authored-by: ReFil <31960031+ReFil@users.noreply.github.com>
Co-authored-by: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com>
Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
Co-authored-by: Dean Lee <deanlee3@gmail.com>
Co-authored-by: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com>
Co-authored-by: Rewat S <76684800+taperec@users.noreply.github.com>
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@alfhern