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rav4kumar
2025-11-11 21:19:31 -07:00
parent 295dac06f1
commit 2a4bb20f9d
2 changed files with 7 additions and 8 deletions
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opendbc_repo
+1 -1
Submodule opendbc_repo updated: 612d237330...3926b2aff1
sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+6 -7
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@@ -22,19 +22,18 @@ MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
# Braking Profiles
MIN_ACCEL_PROFILES = {
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],
AccelPersonality.eco: [-0.04, -0.07, -0.14, -0.18, -0.22, -1.20],
AccelPersonality.normal: [-0.05, -0.08, -0.16, -0.20, -0.22, -1.20],
AccelPersonality.sport: [-0.06, -0.10, -0.18, -0.22, -0.24, -1.20],
}
MIN_ACCEL_BREAKPOINTS = [0., 4., 6., 8., 12., 25.]
DECEL_SMOOTH_ALPHA = 0.05 # Very aggressive smoothing for decel (lower = smoother)
DECEL_SMOOTH_ALPHA = 0.03 # Very aggressive smoothing for decel (lower = smoother)
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)
MAX_DECEL_DECREASE_RATE = 0.15 # When releasing brake (m/s² per second)
MAX_DECEL_INCREASE_RATE = 0.04 # When braking harder (m/s² per second)
MAX_DECEL_DECREASE_RATE = 0.20 # When releasing brake (m/s² per second)
class AccelPersonalityController: