From 57fce9f3a49c1aec75e1328d42e08a5a59bf68df Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Fri, 16 Aug 2024 07:09:54 -0700 Subject: [PATCH] Update long_mpc.py --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 61392e26ff..002ea6803c 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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)