From c48c1e97ffb51f7f77b2378b7b2a4a7fae8024e0 Mon Sep 17 00:00:00 2001 From: Stupefacient Date: Sat, 28 May 2022 20:41:18 -0400 Subject: [PATCH] better speed offset (#153) * better speed offset * 35 +5 comments * typo * typo fixed again * typo --- selfdrive/controls/lib/speed_limit_controller.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py index 4b5e88fbf..960af4baa 100644 --- a/selfdrive/controls/lib/speed_limit_controller.py +++ b/selfdrive/controls/lib/speed_limit_controller.py @@ -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