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Update long_mpc.py

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Kumar
2025-03-04 17:20:34 -07:00
committed by GitHub
parent dd080960d8
commit 64ed69847e
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -93,7 +93,7 @@ def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego, time_to_max_brake=0.3
v_diff_offset = np.clip(delta_speed, 0, STOP_DISTANCE / 2)
# Adaptive scaling factor based on ego vehicle speed (smooth transition)
scaling_factor = np.interp(v_ego, [0, 10, 30], [1, 0.5, 0.2]) # More gradual scaling
scaling_factor = np.interp(v_ego, [0, 10, 30], [1.3, 0.8, 0.4]) # More gradual scaling
v_diff_offset *= scaling_factor
# Increase offset more aggressively if the ego vehicle is at low speed and lead speed is high