From 204eaebf551bb67c1ba81f8c599768eef5900a72 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Tue, 4 Nov 2025 19:33:15 -0700 Subject: [PATCH] what if --- .../lib/accel_personality/accel_controller.py | 19 ++++++++++--------- .../lib/dynamic_personality/dynamic_follow.py | 8 ++++---- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py index 011296d6c2..e3c052e21b 100644 --- a/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py +++ b/sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py @@ -14,22 +14,23 @@ AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality # Acceleration Profiles MAX_ACCEL_PROFILES = { - AccelPersonality.eco: [2.0, 1.99, 1.92, .850, .500, .33, .23, .125], - AccelPersonality.normal: [2.0, 1.99, 1.70, .850, .500, .33, .23, .125], - AccelPersonality.sport: [2.0, 2.00, 1.97, 1.00, .635, .48, .31, .165], + AccelPersonality.eco: [2.0, 1.99, 1.92, .850, .500, .33, .23, .125], + AccelPersonality.normal: [2.0, 1.99, 1.70, .850, .500, .33, .23, .125], + AccelPersonality.sport: [2.0, 2.00, 1.97, 1.00, .635, .48, .31, .165], } -MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.] +MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.] # Braking Profiles MIN_ACCEL_PROFILES = { - AccelPersonality.eco: [-0.05, -0.08, -0.20, -0.24, -1.20], - AccelPersonality.normal: [-0.06, -0.10, -0.22, -0.26, -1.20], - AccelPersonality.sport: [-0.08, -0.12, -0.24, -0.28, -1.20], + AccelPersonality.eco: [-0.05, -0.08, -0.16, -0.20, -0.24, -1.20], + AccelPersonality.normal: [-0.06, -0.10, -0.18, -0.22, -0.24, -1.20], + AccelPersonality.sport: [-0.08, -0.12, -0.20, -0.24, -0.26, -1.20], } -MIN_ACCEL_BREAKPOINTS = [0., 4., 6., 8., 25.] +MIN_ACCEL_BREAKPOINTS = [0., 4., 6., 8., 12., 25.] + DECEL_SMOOTH_ALPHA = 0.05 # Very aggressive smoothing for decel (lower = smoother) -ACCEL_SMOOTH_ALPHA = 0.25 # Less aggressive for accel (higher = more responsive) +ACCEL_SMOOTH_ALPHA = 0.20 # Less aggressive for accel (higher = more responsive) # Asymmetric rate limiting MAX_DECEL_INCREASE_RATE = 0.06 # When braking harder (m/s² per second) diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py index 1a368653ba..db9764cc61 100644 --- a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py +++ b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py @@ -14,11 +14,11 @@ LongPersonality = log.LongitudinalPersonality # Follow distance profiles mapped to LongPersonality FOLLOW_PROFILES = { - LongPersonality.relaxed: [1.20, 1.35, 1.55, 1.70, 1.80, 1.90], - LongPersonality.standard: [1.10, 1.20, 1.38, 1.48, 1.58, 1.65], - LongPersonality.aggressive: [1.00, 1.00, 1.00, 1.15, 1.28, 1.35], + LongPersonality.relaxed: [1.45, 1.48, 1.52, 1.60, 1.68, 1.75], + LongPersonality.standard: [1.35, 1.38, 1.42, 1.50, 1.58, 1.65], + LongPersonality.aggressive: [1.20, 1.24, 1.28, 1.38, 1.46, 1.52], } -FOLLOW_BREAKPOINTS = [0., 5., 8., 14., 25., 50.] +FOLLOW_BREAKPOINTS = [0., 8., 12., 18., 25., 50.] SMOOTHING_BASE = 0.70 # Base smoothing factor (higher = smoother) SMOOTHING_RANGE = 0.25 # Additional smoothing at high speeds