From 6b71d820193fbf3ff6a5fa94fa96cca3ed9b6353 Mon Sep 17 00:00:00 2001 From: rav4 kumar Date: Tue, 30 Jul 2024 14:43:24 +0000 Subject: [PATCH] vroom vroom vroom vroom vroom --- selfdrive/car/toyota/interface.py | 2 +- selfdrive/car/toyota/values.py | 2 +- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 +++++++------- .../controls/lib/sunnypilot/accel_controller.py | 14 +++++++------- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index f83e85f16d..85408d0eee 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase): #tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06] #smooth tune.kiBP = [0., 5., 12., 20., 27., 36., 50] - tune.kiV = [0.33, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06] + tune.kiV = [0.33, 0.22, 0.20, 0.17, 0.12, 0.08, 0.06] #tune.kiBP = [0., 2., 5., 12., 16, 20., 27., 36., 50] #tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06] custom_tss2_longitudinal_tuning() diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b4b277cc08..250b4b3dc4 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -16,7 +16,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS class CarControllerParams: - ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons + ACCEL_MAX = 2.0 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons ACCEL_MIN = -3.5 # m/s2 STEER_STEP = 1 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 158034a682..77fb07c94d 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -56,7 +56,7 @@ T_IDXS = np.array(T_IDXS_LST) FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) COMFORT_BRAKE = 2.5 -STOP_DISTANCE = 6.0 +STOP_DISTANCE = 4.5 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): if personality==custom.LongitudinalPersonalitySP.relaxed: @@ -89,14 +89,14 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP. x_vel = [0, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01] y_dist = [1.5, 1.5, 1.5, 1.6, 1.76, 1.76, 1.78, 1.78, 1.8, 1.8] elif personality==custom.LongitudinalPersonalitySP.standard: - x_vel = [0, 15, 20, 20.01, 25, 25.01, 36, 36.01] - y_dist = [1.52, 1.50, 1.60, 1.76, 1.76, 1.78, 1.8, 1.8] + x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 19.99, 20, 36] + y_dist = [0.65, 0.65, 0.87, 0.87, 1.09, 1.09, 1.25, 1.25, 1.65, 1.65] elif personality==custom.LongitudinalPersonalitySP.moderate: - x_vel = [0, 20, 20.01, 25, 25.01, 36, 36.01] - y_dist = [1.32, 1.30, 1.385, 1.385, 1.4, 1.4, 1.45] + x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 20, 20.01, 36] + y_dist = [0.64, 0.64, 0.85, 0.85, 1.04, 1.04, 1.20, 1.20, 1.40, 1.40] elif personality==custom.LongitudinalPersonalitySP.aggressive: - x_vel = [0, 5, 5.01, 15, 17, 20, 20.01, 25, 25.01, 36, 36.01] - y_dist = [0.81, 0.80, 1.16, 1.15, 1.16, 1.24, 1.25, 1.25, 1.25, 1.25, 1.25] + x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 15, 17, 20, 20.01, 25, 25.01, 36, 36.01] + y_dist = [0.63, 0.53, 0.83, 0.83, 1.00, 1.00, 1.15, 1.15, 1.16, 1.24, 1.25, 1.25, 1.25, 1.25, 1.25] else: raise NotImplementedError("Dynamic personality not supported") return np.interp(v_ego, x_vel, y_dist) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index f35ec7f0da..3ce4f220ca 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,14 +29,14 @@ from openpilot.common.numpy_fast import interp AccelPersonality = custom.AccelerationPersonality # accel personality by @arne182 modified by cgw -_DP_CRUISE_MIN_V = [-0.07, -0.08, -0.20, -0.20, -0.27, -0.88, -0.82] -_DP_CRUISE_MIN_V_ECO = [-0.07, -0.07, -0.18, -0.18, -0.26, -0.80, -0.80] -_DP_CRUISE_MIN_V_SPORT = [-0.07, -0.09, -0.22, -0.22, -0.28, -0.90, -0.84] -_DP_CRUISE_MIN_BP = [0., 5.55, 5.56, 17., 20.01, 30.01, 33.] +_DP_CRUISE_MIN_V = [-0.06, -0.06, -0.220, -0.220, -0.430, -0.430, -0.64, -0.64, -0.82] +_DP_CRUISE_MIN_V_ECO = [-0.05, -0.05, -0.215, -0.215, -0.425, -0.425, -0.62, -0.62, -0.80] +_DP_CRUISE_MIN_V_SPORT = [-0.07, -0.07, -0.225, -0.225, -0.445, -0.445, -0.66, -0.66, -0.84] +_DP_CRUISE_MIN_BP = [0., 5.55, 5.56, 18., 18.01, 27.77, 27.78, 33., 33.01] -_DP_CRUISE_MAX_V = [3.0, 3.0, 3.0, 2.1, 1.2, .86, .70, .51, .42, .13] -_DP_CRUISE_MAX_V_ECO = [2.4, 2.4, 2.4, 1.8, .93, .72, .53, .42, .31, .085] -_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.4, 2.6, 1.8, 1.1, .96, .78, .60, .4] +_DP_CRUISE_MAX_V = [3.5, 3.5, 3.4, 2.4, 1.4, .91, .70, .51, .42, .13] +_DP_CRUISE_MAX_V_ECO = [3.5, 3.5, 3.3, 2.2, 1.1, .75, .53, .42, .31, .085] +_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.5, 2.8, 1.6, 1.1, .96, .78, .60, .4] _DP_CRUISE_MAX_BP = [0., 1., 6., 8., 11., 15., 20., 25., 30., 55.]