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Update accel_controller.py

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Kumar
2024-09-24 16:46:33 -07:00
committed by GitHub
parent 237dd0aeea
commit 47f54326f5
1 changed files with 5 additions and 4 deletions
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selfdrive/controls/lib/sunnypilot/accel_controller.py
+5 -4
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@@ -29,9 +29,9 @@ from openpilot.common.numpy_fast import interp
AccelPersonality = custom.AccelerationPersonality
# accel personality by @arne182 modified by cgw and kumar
_DP_CRUISE_MIN_V = [-0.01, -0.01, -0.07, -0.07, -0.16, -0.16, -0.46, -1.0, -1.2]
_DP_CRUISE_MIN_V_ECO = [-0.01, -0.01, -0.06, -0.06, -0.15, -0.15, -0.45, -1.0, -1.2]
_DP_CRUISE_MIN_V_SPORT = [-0.01, -0.01, -0.08, -0.08, -0.17, -0.17, -0.47, -1.0, -1.2]
_DP_CRUISE_MIN_V = [-0.08, -0.08, -0.11, -0.11, -0.16, -0.16, -0.46, -1.0, -1.2]
_DP_CRUISE_MIN_V_ECO = [-0.07, -0.07, -0.10, -0.10, -0.15, -0.15, -0.45, -1.0, -1.2]
_DP_CRUISE_MIN_V_SPORT = [-0.09, -0.09, -0.12, -0.12, -0.17, -0.17, -0.47, -1.0, -1.2]
_DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 25., 30.]
#_DP_CRUISE_MIN_V = [-0.020, -0.020, -0.23, -0.23, -0.38, -0.38, -1.00]
@@ -40,11 +40,12 @@ _DP_CRUISE_MIN_BP = [0., 0.05, 0.06, 8.0, 8.01, 12., 18., 25.,
#_DP_CRUISE_MIN_BP = [0., 0.05, 3.12, 10., 10.01, 20., 30.]
_DP_CRUISE_MAX_V = [2.0, 2.0, 1.75, 0.96, .65, .54, .38, .17]
_DP_CRUISE_MAX_V_ECO = [2.0, 1.9, 1.65, 0.90, .57, .45, .32, .09]
_DP_CRUISE_MAX_V_ECO = [2.0, 1.95, 1.66, 0.91, .58, .46, .32, .09]
_DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 1.95, 1.15, .84, .70, .50, .30]
_DP_CRUISE_MAX_BP = [0., 6.0, 8., 11., 20., 25., 30., 40.]
class AccelController:
def __init__(self):
self._personality = AccelPersonality.stock