From 58f2321e97b37263860dbafff6691031d8eda514 Mon Sep 17 00:00:00 2001 From: "Mr.one" Date: Thu, 20 Nov 2025 14:21:47 +0800 Subject: [PATCH] =?UTF-8?q?=E7=BC=96=E8=BE=91long=5Fmpc.py?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 3f9d8245..76772df9 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -54,9 +54,9 @@ T_IDXS = np.array(T_IDXS_LST) FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) COMFORT_BRAKE = 2.5 -STOP_DISTANCE = 6.0 +STOP_DISTANCE = 4.8 CRUISE_MIN_ACCEL = -1.2 -CRUISE_MAX_ACCEL = 1.6 +CRUISE_MAX_ACCEL = 3.0 def get_jerk_factor(personality=log.LongitudinalPersonality.standard): if personality==log.LongitudinalPersonality.relaxed: @@ -71,11 +71,11 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard): def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): if personality==log.LongitudinalPersonality.relaxed: - return 1.75 + return 1.1 elif personality==log.LongitudinalPersonality.standard: - return 1.45 + return 0.8 elif personality==log.LongitudinalPersonality.aggressive: - return 1.25 + return 0.5 else: raise NotImplementedError("Longitudinal personality not supported")