selfdrive.controls.lib.longitudinal_mpc_lib package

Submodules

selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc module

class selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.LongitudinalMpc(mode='acc')[source]

Bases: object

static extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)[source]
process_lead(lead)[source]
reset()[source]
run()[source]
set_accel_limits(min_a, max_a)[source]
set_cost_weights(cost_weights, constraint_cost_weights)[source]
set_cur_state(v, a)[source]
set_weights(prev_accel_constraint=True)[source]
update(carstate, radarstate, v_cruise, x, v, a, j)[source]
selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.desired_follow_distance(v_ego, v_lead)[source]
selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.gen_long_model()[source]
selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.gen_long_ocp()[source]
selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.get_safe_obstacle_distance(v_ego, t_follow=1.45)[source]
selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc.get_stopped_equivalence_factor(v_lead)[source]

Module contents