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less bp

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This commit is contained in:
rav4kumar
2024-09-10 07:03:32 -07:00
parent 0b4170dcc2
commit 2dcc838f73
3 changed files with 7 additions and 8 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -162,9 +162,9 @@ class CarInterface(CarInterfaceBase):
# hand tuned (August 12, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.10
ret.vEgoStopping = 0.01
ret.vEgoStarting = 0.01
ret.stoppingDecelRate = 0.2
ret.stoppingDecelRate = 0.1
def default_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.25
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+1 -1
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@@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST)
FCW_IDXS = T_IDXS < 5.0
T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 5.0
STOP_DISTANCE = 6.0
def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
selfdrive/controls/lib/sunnypilot/accel_controller.py
+4 -5
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@@ -29,16 +29,15 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.45, -0.45, -0.25, -0.25, -0.38, -0.38, -1.00]
_DP_CRUISE_MIN_V_ECO = [-0.40, -0.40, -0.20, -0.20, -0.36, -0.36, -1.00]
_DP_CRUISE_MIN_V_SPORT = [-0.50, -0.50, -0.30, -0.30, -0.42, -0.42, -1.00]
_DP_CRUISE_MIN_BP = [0., 0.05, 3.12, 10., 10.01, 20., 30., 55.]
_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]
_DP_CRUISE_MIN_V_SPORT = [-0.022, -0.022, -0.25, -0.25, -0.40, -0.40, -1.00]
_DP_CRUISE_MIN_BP = [0., 0.05, 3.12, 10., 10.01, 20., 30.]
#_DP_CRUISE_MIN_V = [-0.09, -0.09, -0.09, -0.09, -0.20, -0.20, -0.35, -0.35, -0.54, -0.54, -0.79, -0.79, -1.0, -1.0]
#_DP_CRUISE_MIN_V_ECO = [-0.08, -0.08, -0.08, -0.08, -0.19, -0.19, -0.34, -0.34, -0.52, -0.52, -0.78, -0.78, -1.0, -1.0]
#_DP_CRUISE_MIN_V_SPORT = [-0.10, -0.10, -0.10, -0.10, -0.21, -0.21, -0.36, -0.36, -0.56, -0.56, -0.80, -0.80, -1.0, -1.0]
#_DP_CRUISE_MIN_BP = [0., 4.0, 4.01, 7.0, 7.01, 12., 12.01, 16., 16.01, 20., 20.01, 25., 25.01, 30.]
_DP_CRUISE_MAX_V = [2.0, 2.0, 1.75, 0.96, .64, .54, .38, .17]
_DP_CRUISE_MAX_V_ECO = [2.0, 1.9, 1.60, 0.89, .55, .45, .32, .09]
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 1.95, 1.15, .84, .70, .50, .30]