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long_mpc: clean up get_T_FOLLOW() usage (#29033)

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eFini
2023-07-19 17:07:01 +08:00
committed by GitHub
parent 5cfb79e35f
commit 7a5dbe6132
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -357,7 +357,7 @@ class LongitudinalMpc:
v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
v_lower,
v_upper)
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW(personality))
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
self.source = SOURCES[np.argmin(x_obstacles[0])]