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better speed offset (#153)

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* better speed offset

* 35 +5 comments

* typo

* typo fixed again

* typo
This commit is contained in:
Stupefacient
2022-05-28 20:41:18 -04:00
committed by GitHub
parent d5799d37e8
commit c48c1e97ff
1 changed files with 2 additions and 5 deletions
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selfdrive/controls/lib/speed_limit_controller.py
+2 -5
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@@ -15,11 +15,8 @@ _PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates.
_TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal.
# Lookup table for speed limit percent offset depending on speed.
_LIMIT_PERC_OFFSET_V = [0.0, 0.1, 0.125, 0.2, 0.21, 0.23] # 25, 33, 45, 60, 67, 70 mph
_LIMIT_PERC_OFFSET_BP = [11.0, 13.4, 20.1, 22.3, 24.58, 29.0] # 25, 30, 40 50, 55, 65 mph
#_LIMIT_PERC_OFFSET_V = [0.28, 0.038] # 55, 105, 135 km/h 96, 129
#_LIMIT_PERC_OFFSET_BP = [13.9, 36.1] # 50, 100, 130 km/h
_LIMIT_PERC_OFFSET_V = [0.0, 0.1, 0.14, 0.11, 0.2, 0.18, 0.17, 0.14, 0.065, 0.0] #20, 33, 40, 50, 65, 75, 80, 80, 80, mph
_LIMIT_PERC_OFFSET_BP = [11.0, 13.4, 15.6, 20.1, 22.3, 24.58, 29.0, 31.2, 33.4, 35.7] #20, 30, 35, 45, 55, 65, 70, 75, 80 mph
SpeedLimitControlState = log.LongitudinalPlan.SpeedLimitControlState
EventName = car.CarEvent.EventName