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Update long_mpc.py

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Kumar
2024-10-15 16:10:28 -07:00
committed by GitHub
parent 0a5d99d520
commit 60abb3aa2b
1 changed files with 6 additions and 6 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+6 -6
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@@ -89,14 +89,14 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.70, 1.70, 1.80, 1.80]
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.70, 1.70, 1.80, 1.80]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.70, 1.70, 1.75, 1.75]
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.65, 1.65, 1.75, 1.75]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.45, 1.45, 1.55, 1.55]
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.45, 1.45, 1.55, 1.55]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0., 19.7, 19.71, 36.1]
y_dist = [1.25, 1.25, 1.35, 1.35]