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use 2.5 ttc (COMFORT_BRAKE)

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Rick Lan
2024-07-17 13:20:13 +08:00
parent 0e699602c7
commit 4f88e4448c
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+1 -1
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@@ -142,7 +142,7 @@ class LongitudinalPlanner:
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
if self.mpc.mode == 'acc':
self._pac.update(sm['carState'], sm['radarState'].leadOne.status and v_ego > 0. and sm['radarState'].leadOne.dRel / v_ego < 1.)
self._pac.update(sm['carState'], sm['radarState'].leadOne.status and v_ego > 0. and sm['radarState'].leadOne.dRel / v_ego < 2.5)
# accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
accel_limits = [A_CRUISE_MIN, self._pac.get_max_accel(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)]
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)