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fix

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rav4kumar
2024-10-22 20:14:09 -07:00
parent 637e82d876
commit 6bf1589fb0
1 changed files with 5 additions and 0 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -87,6 +87,9 @@ def get_a_change_factor(v_ego, v_lead0, v_lead1, personality=custom.Longitudinal
elif personality==custom.LongitudinalPersonalitySP.aggressive:
a_change_cost_multiplier_follow = 0.1 # Very low cost for changing acceleration, meaning quicker reactions (less cautious)
a_change_cost_high_speed_factor = 5.0 # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
elif personality==custom.LongitudinalPersonalitySP.overtake:
a_change_cost_multiplier_follow = 0.1 # Very low cost for changing acceleration, meaning quicker reactions (less cautious)
a_change_cost_high_speed_factor = 5.0 # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
else:
raise NotImplementedError("Longitudinal personality not supported")
@@ -131,6 +134,8 @@ def get_danger_zone_factor(personality=custom.LongitudinalPersonalitySP.standard
return 1.3 # Medium danger zone cost for moderate personality (similar to standard)
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 1.0 # Lowest danger zone cost for aggressive personality (less cautious)
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 1.0 # Lowest danger zone cost for aggressive personality (less cautious)
else:
raise NotImplementedError("Longitudinal personality not supported")