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@ -49,14 +49,16 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N
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T_IDXS = np.array(T_IDXS_LST)
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T_DIFFS = np.diff(T_IDXS, prepend=[0.])
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MIN_ACCEL = -3.5
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T_REACT = 1.45
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T_REACT = 0.5
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T_FOLLOW = 1.45
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COMFORT_BRAKE = 2.0
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STOP_DISTANCE = 6.0
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def get_stopped_equivalence_factor(v_lead):
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return v_lead**2 / (2 * COMFORT_BRAKE) - T_REACT * v_lead
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return v_lead**2 / (2 * COMFORT_BRAKE) - (T_FOLLOW - T_REACT) * v_lead
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def get_safe_obstacle_distance(v_ego):
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return (v_ego*v_ego) / (2 * COMFORT_BRAKE) + 6.0
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return (v_ego*v_ego) / (2 * COMFORT_BRAKE) + T_REACT * v_ego + STOP_DISTANCE
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def desired_follow_distance(v_ego, v_lead):
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return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
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@ -1 +1 @@
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fb4318e66ce98c9bc267b0778d9238265c1c5b17
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6ab94cfcfe183a09e75e9f8b67a7ee2a2d3630df
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