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Long control: add a_change cost in e2e mode (#26237)

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Add e2e cost
This commit is contained in:
HaraldSchafer
2022-10-25 16:53:24 -07:00
committed by GitHub
parent f6bab0cd67
commit dcde942d9f
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -1
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@@ -253,7 +253,8 @@ class LongitudinalMpc:
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
elif self.mode == 'blended':
cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0]
a_change_cost = 40.0 if prev_accel_constraint else 0
cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
else:
raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')