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longitudinal comments (#21898) 

* cmt

* Update longcontrol.py
pull/21900/head
sshane 2021-08-11 01:33:59 -07:00 committed by GitHub
parent 358cdaaefd
commit 737a79e556
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2 changed files with 2 additions and 2 deletions
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2
selfdrive/controls/lib/longcontrol.py
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@ -72,7 +72,7 @@ class LongControl():
def update(self, active, CS, CP, long_plan):
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
# Interp control trajectory
# TODO estimate car specific lag, use .5s for now
# TODO estimate car specific lag, use .15s for now
if len(long_plan.speeds) == CONTROL_N:
v_target = interp(DEFAULT_LONG_LAG, T_IDXS[:CONTROL_N], long_plan.speeds)
v_target_future = long_plan.speeds[-1]

2
selfdrive/controls/lib/longitudinal_planner.py
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@ -105,7 +105,7 @@ class Planner():
for key in self.mpcs:
self.mpcs[key].set_cur_state(self.v_desired, self.a_desired)
self.mpcs[key].update(sm['carState'], sm['radarState'], v_cruise)
if self.mpcs[key].status and self.mpcs[key].a_solution[5] < next_a:
if self.mpcs[key].status and self.mpcs[key].a_solution[5] < next_a: # picks slowest solution from accel in ~0.2 seconds
self.longitudinalPlanSource = key
self.v_desired_trajectory = self.mpcs[key].v_solution[:CONTROL_N]
self.a_desired_trajectory = self.mpcs[key].a_solution[:CONTROL_N]