Auto-distance at surface street speeds

Override short distance setting when slow

Override distance when slow

Override distance if slow

Override distance when slow

Override distance when slow

Increase follow distance when below 60 kph

Lead car and rel. velocity to distance override

Override distance bars

revert

Override and restore dist based on speed and accel

Step up distance when < 40 km/h and restore

Revert

When using 1 bar distance:  Slow the car down earlier and more aggressively  (#18)

* Change one bar braking profile to 3 bars

* Update planner.py

* Update planner.py

* Update planner.py

* Update planner.py

* Update planner.py

* Update planner.py

* Update planner.py

* Update planner.py

* fake lead car vars

* fake lead vars

* Auto Distance Bar Working - tuning values

* Logging to log.txt

* Override hysteresis for one bar follow

* Only set override when decelerating

* syntax error fix for override flag

* Switch to 1.8s for softer braking

* Revert "Switch to 1.8s for softer braking"

This reverts commit d53623062ef814509db925fe4e624c3ae8aff1f1.

* Disable OTA update for safety

launch_chffrplus.sh

@@ -6,11 +6,11 @@ fi
 
 function launch {
   # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-     git reset --hard @{u} &&
-     git clean -xdf &&
-     exec "${BASH_SOURCE[0]}"
-  fi
+  #if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+  #   git reset --hard @{u} &&
+  #   git clean -xdf &&
+  #   exec "${BASH_SOURCE[0]}"
+  #fi
 
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus
@@ -24,6 +24,7 @@ function launch {
   # start manager
   cd selfdrive
   ./manager.py
+  #./manager.py > log.txt
 
   # if broken, keep on screen error
   while true; do sleep 1; done

selfdrive/car/honda/carstate.py

@@ -306,16 +306,17 @@ def update(self, cp, cp_cam):
     self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
     self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
 
+    # when user presses distance button on steering wheel
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
         self.trMode = (self.trMode + 1 ) % 3
     self.prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.read_distance_lines = self.trMode + 1
+
     if self.read_distance_lines <> self.read_distance_lines_prev:
       self.read_distance_lines_prev = self.read_distance_lines
 
-
 # carstate standalone tester
 if __name__ == '__main__':
   import zmq

selfdrive/controls/lib/planner.py

@@ -153,6 +153,7 @@ def __init__(self, mpc_id, live_longitudinal_mpc):
     self.prev_lead_x = 0.0
     self.new_lead = False
 
+    self.override = False      # for one bar distance at low speeds - introduce early braking and hysteresis for resume follow
     self.lastTR = 2
     self.last_cloudlog_t = 0.0
 
@@ -192,7 +193,8 @@ def update(self, CS, lead, v_cruise_setpoint):
     self.cur_state[0].x_ego = 0.0
 
     if lead is not None and lead.status:
-      x_lead = lead.dRel
+      #x_lead = lead.dRel
+      x_lead = max(0, lead.dRel - 1)  # increase stopping distance to car by 1m
       v_lead = max(0.0, lead.vLead)
       a_lead = lead.aLeadK
 
@@ -214,16 +216,24 @@ def update(self, CS, lead, v_cruise_setpoint):
     else:
       self.prev_lead_status = False
       # Fake a fast lead car, so mpc keeps running
-      self.cur_state[0].x_l = 50.0
+      self.cur_state[0].x_l = 150.0
       self.cur_state[0].v_l = CS.vEgo + 10.0
       a_lead = 0.0
+      v_lead = CS.vEgo + 10.0
+      x_lead = 150.0
       self.a_lead_tau = _LEAD_ACCEL_TAU
 
     # Calculate mpc
     t = sec_since_boot()
 
-    if CS.vEgo < 11.4:
-      TR=1.8 # under 41km/hr use a TR of 1.8 seconds
+    # Override with 3 bar distance profile if using one bar distance - hysteresis for safety
+    if self.override and CS.aEgo >= 0:
+      self.override = False  # When car starts accelerating, resume one bar distance profile
+
+    if self.override or (CS.readdistancelines == 1 and CS.vEgo < 18.06 and (v_lead - CS.vEgo) < -3 and x_lead < 100):
+      if CS.aEgo < -0.5:
+         self.override = True   # If we start braking, then keep 3 bar distance profile until car starts to accelerate
+      TR=2.7
       #if self.lastTR > 0:
         #self.libmpc.init(MPC_COST_LONG.TTC, 0.1, PC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
         #self.lastTR = 0
@@ -251,7 +261,7 @@ def update(self, CS, lead, v_cruise_setpoint):
           self.lastTR = CS.readdistancelines
       else:
         TR=1.8 # if readdistancelines = 0
-    #print TR
+
 
     n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)