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more aggressive jerk

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This commit is contained in:
Jason Wen
2024-07-31 00:00:09 -04:00
parent 4a2b96ae4e
commit 1dd9ed1042
1 changed files with 2 additions and 1 deletions
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selfdrive/car/hyundai/carcontroller.py
+2 -1
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@@ -112,6 +112,7 @@ class CarController(CarControllerBase):
self.accel_raw = 0
self.accel_val = 0
self.accel_last_jerk = 0
def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
lead_one = self.sm["radarState"].leadOne
@@ -485,7 +486,7 @@ class CarController(CarControllerBase):
elif actuators.longControlState == LongCtrlState.stopping:# or hud_control.softHold > 0:
accel_diff = 0.0
else:
accel_diff = self.accel_raw - self.accel_last
accel_diff = self.accel_raw - self.accel_last_jerk
accel_diff /= DT_CTRL
self.jerk = self.jerk * 0.9 + accel_diff * 0.1