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This commit is contained in:
rav4kumar
2024-08-03 21:50:16 -07:00
parent 16e9625626
commit 972c69bd2a
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -2
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@@ -90,10 +90,10 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
y_dist = [1.5, 1.5, 1.5, 1.6, 1.76, 1.76, 1.78, 1.78, 1.8, 1.8]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 19.99, 20, 36]
y_dist = [0.84, 0.84, 0.91, 0.91, 1.16, 1.16, 1.32, 1.33, 1.65, 1.65]
y_dist = [0.98, 0.98, 1.10, 1.10, 1.20, 1.20, 1.32, 1.33, 1.65, 1.65]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 20, 20.01, 36]
y_dist = [0.82, 0.82, 0.89, 0.89, 1.20, 1.20, 1.30, 1.30, 1.40, 1.40]
y_dist = [0.90, 0.90, 1.00, 1.00, 1.20, 1.20, 1.30, 1.30, 1.40, 1.40]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 5, 5.01, 8.33, 8.34, 11.1, 11.11, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [0.80, 0.80, 0.87, 0.87, 1.05, 1.05, 1.16, 1.16, 1.28, 1.28, 1.30, 1.30, 1.30]