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firestar5683
29 lines
746 B
Python
29 lines
746 B
Python
from dataclasses import dataclass
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@dataclass(frozen=True)
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class LongitudinalPlannerTune:
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lead_filter_tau: float = 0.45
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accel_slew_rate: float = 0.90
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brake_slew_rate: float = 1.40
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launch_accel: float = 0.35
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DEFAULT_TUNE = LongitudinalPlannerTune()
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# Vehicle exceptions are deliberately declarative and limited to physical
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# response differences. Planning and safety logic remain global.
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VEHICLE_TUNES = {
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("honda", "HONDA_HRV_3G"): LongitudinalPlannerTune(
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lead_filter_tau=0.65,
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accel_slew_rate=0.65,
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brake_slew_rate=1.00,
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launch_accel=0.30,
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),
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}
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def get_longitudinal_planner_tune(CP):
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key = (str(getattr(CP, "brand", "")), str(getattr(CP, "carFingerprint", "")))
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return VEHICLE_TUNES.get(key, DEFAULT_TUNE)
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