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lat planner retune

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This commit is contained in:
Jason Wen
2023-08-19 14:35:38 -04:00
parent fb3991c07a
commit 1088d425f4
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/lateral_planner.py
+2 -2
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@@ -17,13 +17,13 @@ LaneChangeState = log.LateralPlan.LaneChangeState
PATH_COST = 1.0
LATERAL_MOTION_COST = 0.11
LATERAL_ACCEL_COST = 0.0
LATERAL_ACCEL_COST = 1.0
LATERAL_JERK_COST = 0.04
# Extreme steering rate is unpleasant, even
# when it does not cause bad jerk.
# TODO this cost should be lowered when low
# speed lateral control is stable on all cars
STEERING_RATE_COST = 700.0
STEERING_RATE_COST = 8.0
class LateralPlanner: