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Update long_mpc.py

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This commit is contained in:
Kumar
2024-09-03 16:37:03 -07:00
committed by GitHub
parent f8ee6f60ff
commit 3d06292c7e
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+3 -3
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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 = 6.0
STOP_DISTANCE = 5.0
def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -63,9 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 0.85
return 0.5
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.8
return 0.1
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.1
else: