From 1088d425f445aac4002b79d24942b876c6ba378d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 19 Aug 2023 14:35:38 -0400 Subject: [PATCH] lat planner retune --- selfdrive/controls/lib/lateral_planner.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 5d850d180d..d65c4b66f0 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -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: