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rav4kumar
2024-10-03 20:14:46 -07:00
parent 68efbec683
commit 42f43d76fa
3 changed files with 8 additions and 8 deletions
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selfdrive/car/toyota/interface.py
+2 -2
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@@ -163,7 +163,7 @@ class CarInterface(CarInterfaceBase):
# hand tuned (August 12, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.10
ret.vEgoStarting = 0.01
ret.vEgoStarting = 0.10
ret.stoppingDecelRate = 0.006
def default_tss2_longitudinal_tuning():
@@ -183,7 +183,7 @@ class CarInterface(CarInterfaceBase):
#tune.kpBP = [0., 5., 20.]
#tune.kpV = [2.3, 1.0, 0.7]
tune.kiBP = [0., 8., 12., 20., 27., 36., 40.]
tune.kiV = [0.35, 0.22, 0.21, 0.175, 0.105, 0.09, 0.08]
tune.kiV = [0.35, 0.22, 0.21, 0.173, 0.10, 0.09, 0.08]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -2
View File
@@ -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 0.9
return 0.5
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.8
return 0.2
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.1
else:
selfdrive/controls/lib/sunnypilot/accel_controller.py
+4 -4
View File
@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.76, -0.76]
_DP_CRUISE_MIN_V_ECO = [-0.66, -0.66]
_DP_CRUISE_MIN_V_SPORT = [-0.86, -0.86]
_DP_CRUISE_MIN_BP = [0., 20.]
_DP_CRUISE_MIN_V = [-0.02, -0.24, -0.76]
_DP_CRUISE_MIN_V_ECO = [-0.02, -0.20, -0.66]
_DP_CRUISE_MIN_V_SPORT = [-0.02, -0.28, -0.86]
_DP_CRUISE_MIN_BP = [0., 10., 20.]
_DP_CRUISE_MAX_V = [2.0, 2.0, 2.0, 1.80, 1.03, .71, .52, .41, .13]
_DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 2.0, 1.65, 0.92, .54, .43, .32, .088]