From 039fd97e6e5197bbd386e40226a7ab94d9ee1297 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 6 Aug 2024 00:51:05 -0400 Subject: [PATCH] more aggro --- selfdrive/controls/lib/longitudinal_planner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index bee5e5636a..8cd3674970 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -82,7 +82,8 @@ class LongitudinalPlanner: self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) + v_ego_sec = 0.75 if CP.carName == "hyundai" else 2.0 + self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N)