diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 90af90df2..a711848d6 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -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')