From 237dd0aeea5ba200ab62d81df951df40aa6cd1a8 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Tue, 24 Sep 2024 07:47:03 -0700 Subject: [PATCH] tiny bit --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 6 +++--- selfdrive/controls/lib/sunnypilot/accel_controller.py | 8 ++++---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 5be2e9ffa5..5aafcc4c2b 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -63,7 +63,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): elif personality==custom.LongitudinalPersonalitySP.standard: return 1.0 elif personality==custom.LongitudinalPersonalitySP.moderate: - return 0.3 + return 0.5 elif personality==custom.LongitudinalPersonalitySP.aggressive: return 0.2 elif personality==custom.LongitudinalPersonalitySP.overtake: @@ -74,9 +74,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard): if personality==custom.LongitudinalPersonalitySP.relaxed: - return 1.75 + return 1.80 elif personality==custom.LongitudinalPersonalitySP.standard: - return 1.50 + return 1.55 elif personality==custom.LongitudinalPersonalitySP.moderate: return 1.35 elif personality==custom.LongitudinalPersonalitySP.aggressive: diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index 44b1444e90..96435144bf 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp AccelPersonality = custom.AccelerationPersonality # accel personality by @arne182 modified by cgw and kumar -_DP_CRUISE_MIN_V = [-0.01, -0.01, -0.07, -0.07, -0.16, -0.16, -0.46, -1.2] -_DP_CRUISE_MIN_V_ECO = [-0.01, -0.01, -0.06, -0.06, -0.15, -0.15, -0.45, -1.2] -_DP_CRUISE_MIN_V_SPORT = [-0.01, -0.01, -0.08, -0.08, -0.17, -0.17, -0.47, -1.2] -_DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 30.] +_DP_CRUISE_MIN_V = [-0.01, -0.01, -0.07, -0.07, -0.16, -0.16, -0.46, -1.0, -1.2] +_DP_CRUISE_MIN_V_ECO = [-0.01, -0.01, -0.06, -0.06, -0.15, -0.15, -0.45, -1.0, -1.2] +_DP_CRUISE_MIN_V_SPORT = [-0.01, -0.01, -0.08, -0.08, -0.17, -0.17, -0.47, -1.0, -1.2] +_DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 25., 30.] #_DP_CRUISE_MIN_V = [-0.020, -0.020, -0.23, -0.23, -0.38, -0.38, -1.00] #_DP_CRUISE_MIN_V_ECO = [-0.019, -0.019, -0.21, -0.21, -0.36, -0.36, -1.00]