From 404148cb3c4e21687f2703a54de4ebd028e30b85 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Fri, 13 Sep 2024 07:49:28 -0700 Subject: [PATCH] no shane --- selfdrive/car/toyota/interface.py | 4 ++-- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 10 +++++----- .../controls/lib/sunnypilot/accel_controller.py | 12 ++++++------ 3 files changed, 13 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8667e23adf..13835bdb33 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -178,8 +178,8 @@ class CarInterface(CarInterfaceBase): tune = ret.longitudinalTuning if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED: if sp_tss2_long_tune: - tune.kiBP = [0., 5., 12., 20., 27., 40.] - tune.kiV = [.35, .2286, .2086, .1716, .10, .06] + tune.kiBP = [0., 5., 12., 20., 27., 40.] + tune.kiV = [.35, .23, .20, .17, .10, .06] #tune.kiBP = [0., 1., 8., 12., 20., 27., 40.] #tune.kiV = [.35, .3168, .1965, .1965, .184, .101, .06] custom_tss2_longitudinal_tuning() diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index d714c7c720..d5f18c270a 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -61,11 +61,11 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): if personality==custom.LongitudinalPersonalitySP.relaxed: return 1.0 elif personality==custom.LongitudinalPersonalitySP.standard: - return 0.8 - elif personality==custom.LongitudinalPersonalitySP.moderate: return 0.5 - elif personality==custom.LongitudinalPersonalitySP.aggressive: + elif personality==custom.LongitudinalPersonalitySP.moderate: return 0.3 + elif personality==custom.LongitudinalPersonalitySP.aggressive: + return 0.2 elif personality==custom.LongitudinalPersonalitySP.overtake: return 0.1 else: @@ -98,8 +98,8 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP. x_vel = [0, 5., 5.01, 8.33, 8.34, 27.69, 27.7] y_dist = [0.0, 1.4, 1.4, 1.4, 1.45, 1.45, 1.50] elif personality==custom.LongitudinalPersonalitySP.aggressive: - x_vel = [0, 5., 5.01, 17.0, 17.01, 27.69, 27.7] - y_dist = [0.0, 1.2, 1.2, 1.2, 1.25, 1.25, 1.3] + x_vel = [0, 5., 5.01, 17.0, 17.01, 27.69, 27.7] + y_dist = [0.0, 1.2, 1.2, 1.2, 1.25, 1.25, 1.3] else: raise NotImplementedError("Dynamic personality not supported") return np.interp(v_ego, x_vel, y_dist) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index b5f721ed8f..536fe97555 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,18 +29,18 @@ from openpilot.common.numpy_fast import interp AccelPersonality = custom.AccelerationPersonality # accel personality by @arne182 modified by cgw and kumar -_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 = [-0.018, -0.28, -0.76, -0.76] +_DP_CRUISE_MIN_V_ECO = [-0.018, -0.26, -0.74, -0.74] +_DP_CRUISE_MIN_V_SPORT = [-0.018, -0.30, -0.78, -0.78] +_DP_CRUISE_MIN_BP = [0., 8.0, 16., 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 = [2.0, 2.0, 1.75, 0.95, .63, .51, .36, .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] +_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 1.95, 1.10, .84, .70, .50, .30] _DP_CRUISE_MAX_BP = [0., 6.0, 8., 11., 20., 25., 30., 40.]