Gradually stop at red light (fixes #13)

[mithi]

• As suggested by @asimonov 10 < d < 30 works great! :+1: https://www.youtube.com/watch?v=iUpg4U_ERb0

[mithi]

Update: Add gradual slowdown

Example:

MIN_DISTANCE = 22.5 #: Minimum distance from away from traffic light
MAX_DISTANCE = 45.0 #: Maximum distance from the traffic light to stop
DELTA_DISTANCE = 7.5 #: Buffer distance 

Car starts to slow down from MAX_DISTANCE = 45 m to traffic light until a complete stop at 30 m STOPPED_DISTANCE = MIN_DISTANCE + DELTA_DISTANCE Car should be within 22.5 m and 30 m of traffic light. If the car is less than 22.5 m near the traffic light it ignores the status of the traffic light as it's too late and its already in the intersection area.

[mithi]

Hi everyone, just for reference here’s a video of gradual stopping from this code https://www.youtube.com/watch?v=zx61O8XdkMg

[ljanyst]

Mithi, it worke very well. Thanks! :)

Can you please remove the warning messages?

[mithi]

Okay sure one sec! @ljanyst

[mithi]

Here’s the video for 40mph https://www.youtube.com/watch?v=CM22iPj_HuE But with the following parameters

LOOKAHEAD_WPS = 150 #: Number of waypoints we will publish
STALE_TIME = 2.0 #: Time since that indicates it is relatively new data
MIN_DISTANCE = 23.0 #: Minimum distance from away from traffic light
MAX_DISTANCE = 100.0 #: Maximum distance from the traffic light to stop
DELTA_DISTANCE = 7.0 #: Buffer distance which is where the car must be completely stopped

[mithi]

So I tested it on speeds = 45, 40, 30, 20, 10 It seems to work quite well on my machine setup.

Just tweak

SLOW_DISTANCE = SPEED_MPH * 1.5 #: Distance amount where vehicle slows down
# NOTE: For SLOW_DISTANCE tweak coefficient as necessary
# > 1.5 for more gradual slowdown, < 1.5 for more abrupt stopping

Also depending on size of the road intersection you can tweak

MIN_DISTANCE = 22.0 #: Minimum distance from away from traffic light
DELTA_DISTANCE = 8.0 #: Buffer distance to give time to completely stop

[ljanyst]

It works well for me too at 10 and 40 MPH. Thank you, Mithi!

[mithi]

@ljanyst WOOHOO! Finally! :)