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Update interface.py

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This commit is contained in:
Kumar
2024-09-25 19:03:04 -07:00
committed by GitHub
parent a502281dcd
commit 116edceba5
1 changed files with 3 additions and 3 deletions
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selfdrive/car/toyota/interface.py
+3 -3
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@@ -165,14 +165,14 @@ class CarInterface(CarInterfaceBase):
# hand tuned (August 12, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.17
ret.vEgoStopping = 0.15
ret.vEgoStarting = 0.05
ret.stopAccel = -2.0
ret.stoppingDecelRate = 0.005 # reach stopping target smoothly
def default_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.15
ret.vEgoStarting = 0.15
ret.vEgoStarting = 0.05
ret.stoppingDecelRate = 0.5 # reach stopping target smoothly
def default_longitudinal_tuning():
@@ -187,7 +187,7 @@ class CarInterface(CarInterfaceBase):
#tune.kpBP = [0., 5., 20.]
#tune.kpV = [2.3, 1.0, 0.7]
tune.kiBP = [0., 3., 8., 20., 27., 40.]
tune.kiV = [.35, .25, .21, .17, .10, .06]
tune.kiV = [.35, .24, .20, .17, .10, .06]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]