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Update long_mpc.py

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Kumar
2024-08-16 07:09:54 -07:00
committed by GitHub
parent 852302b97b
commit 57fce9f3a4
1 changed files with 4 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+4 -4
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@@ -92,14 +92,14 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
x_vel = [0, 5., 5.01, 20., 27.7]
y_dist = [1.0, 1.0, 1.75, 1.75, 1.83]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0, 4., 4.01, 20., 27.7]
x_vel = [0, 5., 5.01, 20., 27.7]
y_dist = [1.0, 1.0, 1.75, 1.75, 1.80]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 3., 3.01, 20., 27.7]
x_vel = [0, 5., 5.01, 20., 27.7]
y_dist = [1.0, 1.0, 1.45, 1.45, 1.50]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 2., 2.01, 14, 14.01, 20., 27.7]
y_dist = [0.8, 0.8, 1.00, 1.00, 1.10, 1.10, 1.30]
x_vel = [0, 5., 5.01, 14, 14.01, 20., 27.7]
y_dist = [0.8, 0.8, 1.10, 1.10, 1.10, 1.10, 1.30]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)