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different approach

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This commit is contained in:
Kumar
2024-10-15 07:38:59 -07:00
committed by GitHub
parent d13355d956
commit 0a5d99d520
3 changed files with 11 additions and 11 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -178,8 +178,8 @@ class CarInterface(CarInterfaceBase):
tune = ret.longitudinalTuning
if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
if sp_tss2_long_tune:
tune.kiBP = [0., 2., 12., 20., 27., 36., 40.]
tune.kiV = [0.348, 0.309, 0.219, 0.173, 0.10, 0.09, 0.08]
tune.kiBP = [0., 2., 12., 20., 27.]
tune.kiV = [0.348, 0.308, 0.218, 0.174, 0.101]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+5 -5
View File
@@ -59,13 +59,13 @@ STOP_DISTANCE = 6.0
def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
return 1.5
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.3
elif personality==custom.LongitudinalPersonalitySP.moderate:
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.2
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 1.1
return 0.8
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.1
else:
@@ -80,7 +80,7 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 1.25
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 1.0
return 1.15
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.25
else:
selfdrive/controls/lib/sunnypilot/accel_controller.py
+4 -4
View File
@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-1.0, -1.0, -1.0]
_DP_CRUISE_MIN_V_ECO = [-1.0, -1.0, -1.0]
_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0, -1.0]
_DP_CRUISE_MIN_BP = [0., 10., 20.]
_DP_CRUISE_MIN_V = [-0.015, -0.015, -1.0, -1.0]
_DP_CRUISE_MIN_V_ECO = [-0.010, -0.010, -1.0, -1.0]
_DP_CRUISE_MIN_V_SPORT = [-0.020, -0.020, -1.0, -1.0]
_DP_CRUISE_MIN_BP = [0., 5., 5.01, 20.]
_DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.80, 1.03, .62, .47, .35, .10]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.65, 0.92, .532, .432, .315, .084]