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friction threshold

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firestar5683
2026-01-29 11:28:08 -06:00
parent 04c59fb18e
commit 6f0502e862
1 changed files with 3 additions and 3 deletions
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selfdrive/car/interfaces.py
+3 -3
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@@ -37,12 +37,12 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
FRICTION_THRESHOLD = 0.09
FRICTION_THRESHOLD = 0.12
def get_friction_threshold(v_ego):
# Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
# Interpolate friction threshold
from openpilot.common.numpy_fast import interp
return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.25])
return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')