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Update long_mpc.py

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eFini
2023-11-26 12:23:24 +08:00
committed by GitHub
parent e7df1b8218
commit de4254deb3
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py
+2 -2
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@@ -372,8 +372,8 @@ class LongitudinalMpc:
# distance that lead needs as a minimum. We can add that to the current distance
# and then treat that as a stopped car/obstacle at this new distance.
if use_krkeegen_tune:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1], v_ego)
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1], v_ego)
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
else:
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])