IQ.Lvbs/IQ.Pilot
8
7
Fork 3
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

IQ.Pilot Release Commit @ f82ff4d

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-07-21 13:43:46 -05:00
parent 7b20edda67
commit b712a31728
717 changed files with 4347 additions and 3060 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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

@@ -12,6 +12,11 @@ MAX_VEL_ERR = 5.0 # m/s
MAX_LATERAL_JERK = 5.0 # m/s^3
MAX_LATERAL_ACCEL_NO_ROLL = 3.0 # m/s^2
MAX_LATERAL_ACCEL_NO_ROLL_OVERRIDE = 5.0 # m/s^2
DEFAULT_STOPPING_SPEED = 0.25 # m/s
def should_stop(v_ego: float, a_target: float, stopping_speed: float = DEFAULT_STOPPING_SPEED) -> bool:
return bool(v_ego < stopping_speed and a_target < 0.1)
def clamp(val, min_val, max_val):
@@ -52,7 +57,7 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll, override=False) -
return float(new_curvature), limited_accel or limited_max_curv
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, stopping_speed=DEFAULT_STOPPING_SPEED):
if len(speeds) == len(t_idxs):
v_now = speeds[0]
a_now = accels[0]
@@ -62,8 +67,7 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
v_now = 0.0
v_target = 0.0
a_target = 0.0
should_stop = (v_now < vEgoStopping and a_target < 0.1)
return a_target, should_stop
return a_target, should_stop(v_now, a_target, stopping_speed)
def curv_from_psis(psi_target, psi_rate, vego, action_t):
vego = np.clip(vego, MIN_SPEED, np.inf)