fff

selfdrive/car/toyota/interface.py

@@ -164,12 +164,12 @@ class CarInterface(CarInterfaceBase):
     def custom_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.002
+      ret.stoppingDecelRate = 0.001
 
     def default_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.stoppingDecelRate = 0.006  # reach stopping target smoothly
+      ret.stoppingDecelRate = 0.002  # reach stopping target smoothly
 
     def default_longitudinal_tuning():
       tune.kiBP = [0., 5., 35.]
@@ -178,8 +178,8 @@ class CarInterface(CarInterfaceBase):
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        tune.kiBP = [0.,    1.,     5.,    12.,   20.,   27.]
-        tune.kiV = [0.351,   0.331,  0.245,  0.215,  0.17,  0.10]
+        tune.kiBP = [0.,   0.5,   1.,    1.5,    5.,    12.,   20.,   27.]
+        tune.kiV = [0.33,  0.33,  0.31,  0.31,   0.22,  0.215,  0.17,  0.10]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -55,11 +55,11 @@ 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 = 5.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    return 1.3
+    return 1.0
   elif personality==custom.LongitudinalPersonalitySP.standard:
     return 1.0
   elif personality==custom.LongitudinalPersonalitySP.moderate:
@@ -77,16 +77,16 @@ def get_a_change_factor(v_ego, v_lead0, v_lead1, personality=custom.Longitudinal
   # Higher value = more cautious (slower reaction), smaller value = quicker response (more aggressive driving)
   if personality==custom.LongitudinalPersonalitySP.relaxed:
     a_change_cost_multiplier_follow = 1.0  # Highest cost for changing acceleration, meaning more gradual transitions
-    a_change_cost_high_speed_factor = 1.0  # No extra penalty for high-speed changes (more cautious)
+    a_change_cost_high_speed_factor = 1.5  # No extra penalty for high-speed changes (more cautious)
   elif personality==custom.LongitudinalPersonalitySP.standard:
     a_change_cost_multiplier_follow = 0.5  # Moderate cost for changing acceleration (quicker transitions compared to relaxed)
-    a_change_cost_high_speed_factor = 1.5  # Higher penalty for changes at higher speeds (more cautious)
+    a_change_cost_high_speed_factor = 3.0  # Higher penalty for changes at higher speeds (more cautious)
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     a_change_cost_multiplier_follow = 0.5  # Similar to standard (quicker transitions compared to relaxed)
-    a_change_cost_high_speed_factor = 1.5  # Similar to standard (higher penalty for high speeds)
+    a_change_cost_high_speed_factor = 3.0  # Similar to standard (higher penalty for high speeds)
   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 = 3.0  # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
+    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)

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-1.0,  -1.0]
-_DP_CRUISE_MIN_BP =      [0.,     20.]
+_DP_CRUISE_MIN_V =       [-0.03,  -0.03,   -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-0.02,  -0.02,   -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-0.04,  -0.04,   -1.0,  -1.0]
+_DP_CRUISE_MIN_BP =      [0.,     15.99,   16.,   20.]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.03, .62,  .47,  .35,  .10]
 _DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.65, 0.92, .532, .432, .315, .084]