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Update dynamic_follow.py

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Kumar
2025-11-12 18:29:06 -07:00
committed by GitHub
parent 85503e6054
commit 32c48b5ffc
1 changed files with 5 additions and 5 deletions
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sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_follow.py
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@@ -14,16 +14,16 @@ LongPersonality = log.LongitudinalPersonality
# Follow distance profiles mapped to LongPersonality
FOLLOW_PROFILES = {
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],
LongPersonality.relaxed: [1.30, 1.30, 1.405, 1.40, 1.80],
LongPersonality.standard: [1.15, 1.15, 1.285, 1.28, 1.45],
LongPersonality.aggressive: [0.97, 0.97, 1.084, 1.07, 1.15],
}
FOLLOW_BREAKPOINTS = [0., 8., 12., 18., 25., 50.]
FOLLOW_BREAKPOINTS = [0., 8., 9, 17., 25.]
SMOOTHING_BASE = 0.70 # Base smoothing factor (higher = smoother)
SMOOTHING_RANGE = 0.25 # Additional smoothing at high speeds
SMOOTHING_SPEED_THRESHOLD = 36.0 # m/s (~80 mph) for max smoothing
PERSONALITY_CHANGE_COOLDOWN_S = 2.0
PERSONALITY_CHANGE_COOLDOWN_S = 0.1
class FollowDistanceController: