Add time gap and distance cost parameters to Longitudinal MPC #23
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added 3 commits
March 14, 2019 01:06
Update generator.cpp to parameterize the follow time. Then, using the process outlined in the ACADO docs (https://acado.github.io/cgt_overview.html), rebuild the generator binary and run it to regenerate the source files in lib_mpc_export, then manually copy them into the openpilot repo. Update longitudinal_mpc.c, libmpc_py.py, and planner.py to take in the additional follow_time parameter. Incorporate arne182's PR to update the Makefile (commaai#248). Note that I did not use the generate recipie inside the repo; I created the files outside of the repo as stated above.
The distance cost was hardcoded, allow with the time gap. But as we lower the time gap we will need to increase the distance cost for reliable control
rhinodavid
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Apr 8, 2019
* Update longitudinal mpc with follow distance param Update generator.cpp to parameterize the follow time. Then, using the process outlined in the ACADO docs (https://acado.github.io/cgt_overview.html), rebuild the generator binary and run it to regenerate the source files in lib_mpc_export, then manually copy them into the openpilot repo. Update longitudinal_mpc.c, libmpc_py.py, and planner.py to take in the additional follow_time parameter. Incorporate arne182's PR to update the Makefile (commaai#248). Note that I did not use the generate recipie inside the repo; I created the files outside of the repo as stated above. * Add distance cost parameter to longitudinal mpc The distance cost was hardcoded, allow with the time gap. But as we lower the time gap we will need to increase the distance cost for reliable control * Scale the time gap up as we slow down
rhinodavid
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Apr 25, 2019
* Update longitudinal mpc with follow distance param Update generator.cpp to parameterize the follow time. Then, using the process outlined in the ACADO docs (https://acado.github.io/cgt_overview.html), rebuild the generator binary and run it to regenerate the source files in lib_mpc_export, then manually copy them into the openpilot repo. Update longitudinal_mpc.c, libmpc_py.py, and planner.py to take in the additional follow_time parameter. Incorporate arne182's PR to update the Makefile (commaai#248). Note that I did not use the generate recipie inside the repo; I created the files outside of the repo as stated above. * Add distance cost parameter to longitudinal mpc The distance cost was hardcoded, allow with the time gap. But as we lower the time gap we will need to increase the distance cost for reliable control * Scale the time gap up as we slow down
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openpilot has hardcoded values for the time gap and distance cost settings of the Longitudinal MPC planner. Update the underlying Cxx code to accept these values as parameters, and update the python code which calls the code. Scale up the time gap as the vehicle slows down, but hardcode the values in python for now.