From de4254deb3fcbbab42d62b2bb8e1a99c603c83cb Mon Sep 17 00:00:00 2001 From: eFini Date: Sun, 26 Nov 2023 12:23:24 +0800 Subject: [PATCH] Update long_mpc.py --- .../controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py index 653f0d010..0ae91f427 100644 --- a/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/legacy_longitudinal_mpc_lib/long_mpc.py @@ -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])