From 804aabf77fbf0fef6aeb83cb7c1ec52304d6e188 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Sun, 27 Oct 2024 18:51:23 -0700 Subject: [PATCH] fff --- selfdrive/car/toyota/interface.py | 8 ++++---- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 12 ++++++------ .../controls/lib/sunnypilot/accel_controller.py | 8 ++++---- 3 files changed, 14 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3aa256c0ea..93afffcc79 100644 --- a/selfdrive/car/toyota/interface.py +++ b/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] diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 2d9f5db955..b1dc5c60ff 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/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) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index 54507d819a..993cb81cb2 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/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]