From 4f88e4448c3d61c75daaf4678d92f8996cb5071a Mon Sep 17 00:00:00 2001 From: Rick Lan Date: Wed, 17 Jul 2024 13:20:13 +0800 Subject: [PATCH] use 2.5 ttc (COMFORT_BRAKE) --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5380b517f..9ef6f8b6f 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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)