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cleanup long planner, mpc: unused globals and arguments (#2211) 

Co-authored-by: user <email@web.com>
pull/2212/head
qadmus 2020-09-21 02:43:28 -07:00 committed by GitHub
parent 927ef086f7
commit 72e0ac2de1
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3 changed files with 5 additions and 11 deletions
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2
selfdrive/controls/lib/long_mpc.py
View File

@ -56,7 +56,7 @@ class LongitudinalMpc():
self.cur_state[0].v_ego = v
self.cur_state[0].a_ego = a
def update(self, pm, CS, lead, v_cruise_setpoint):
def update(self, pm, CS, lead):
v_ego = CS.vEgo
# Setup current mpc state

10
selfdrive/controls/lib/planner.py
View File

@ -15,10 +15,7 @@ from selfdrive.controls.lib.fcw import FCWChecker
from selfdrive.controls.lib.long_mpc import LongitudinalMpc
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
MAX_SPEED = 255.0
LON_MPC_STEP = 0.2 # first step is 0.2s
MAX_SPEED_ERROR = 2.0
AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
# lookup tables VS speed to determine min and max accels in cruise
@ -36,9 +33,6 @@ _A_CRUISE_MAX_BP = [0., 6.4, 22.5, 40.]
_A_TOTAL_MAX_V = [1.7, 3.2]
_A_TOTAL_MAX_BP = [20., 40.]
# 75th percentile
SPEED_PERCENTILE_IDX = 7
def calc_cruise_accel_limits(v_ego, following):
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
@ -162,8 +156,8 @@ class Planner():
self.mpc1.set_cur_state(self.v_acc_start, self.a_acc_start)
self.mpc2.set_cur_state(self.v_acc_start, self.a_acc_start)
self.mpc1.update(pm, sm['carState'], lead_1, v_cruise_setpoint)
self.mpc2.update(pm, sm['carState'], lead_2, v_cruise_setpoint)
self.mpc1.update(pm, sm['carState'], lead_1)
self.mpc2.update(pm, sm['carState'], lead_2)
self.choose_solution(v_cruise_setpoint, enabled)

4
selfdrive/controls/tests/test_following_distance.py
View File

@ -61,8 +61,8 @@ def run_following_distance_simulation(v_lead, t_end=200.0):
mpc.set_cur_state(v_ego, a_ego)
if first: # Make sure MPC is converged on first timestep
for _ in range(20):
mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
mpc.update(pm, CS.carState, lead, v_cruise_setpoint)
mpc.update(pm, CS.carState, lead)
mpc.update(pm, CS.carState, lead)
# Choose slowest of two solutions
if v_cruise < mpc.v_mpc: