From 6bf1589fb0d32fc7ae35b45bb38db9de623c554e Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Tue, 22 Oct 2024 20:14:09 -0700 Subject: [PATCH] fix --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 5a5aac71f0..76339398da 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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")