experiment with aLeadTau #34485
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experiment with aLeadTau #34485
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Prevents instant aLeadTau resets when aLeadK crosses zero, or when briefly dropping below the threshold. If the lead was just heavily decelerating, and is now slightly positive, we may be able to assume they will heavily accelerate as well, same with the opposite case.
Quicker recovery from braking:
Here aLeadTau reset many times due to the lead's oscillating deceleration on an offramp. You can see the difference with the reset unwind. The peak deceleration will be much less than before (what causes discomfort):
...and the planner generally now wants to go a little slower while in the steady state deceleration: