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More extreme lead init for lead mpc (#22273)

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* More harsh lead init for lead mpc

* update refs
old-commit-hash: 7495100177acd53f06e553a49207b8413db9e2e2
This commit is contained in:
HaraldSchafer
2021-09-20 09:35:55 -07:00
committed by GitHub
parent f235e39bda
commit bc1882e3fb
2 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py
+1 -1
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@@ -186,7 +186,7 @@ class LeadMpc():
t += dt
def init_with_sim(self, v_ego, lead_xv, a_lead_0):
a_ego = min(0.0, -(v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0)
a_ego = min(0.0, -2 * (v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0)
dt =.2
t = .0
x_ego = 0.0
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
a1fcedda21d1ff7d53bd647dc4359c5e5941bf47
03585a6e067ff58f1030450efc55cd225dc2ffc3