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tune

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This commit is contained in:
rav4kumar
2024-10-23 07:56:03 -07:00
parent 6bf1589fb0
commit 9e77b88ae9
2 changed files with 7 additions and 7 deletions
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selfdrive/car/toyota/interface.py
+3 -3
View File
@@ -163,7 +163,7 @@ class CarInterface(CarInterfaceBase):
# hand tuned (August 12, 2024)
def custom_tss2_longitudinal_tuning():
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.15
ret.vEgoStarting = 0.01
ret.stoppingDecelRate = 0.002
def default_tss2_longitudinal_tuning():
@@ -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., 2., 12., 20., 27.]
tune.kiV = [0.35, 0.3301, 0.308, 0.2188, 0.174, 0.10]
tune.kiBP = [0., 1., 5., 12., 20., 27.]
tune.kiV = [0.351, 0.331, 0.245, 0.215, 0.17, 0.10]
custom_tss2_longitudinal_tuning()
else:
tune.kpV = [0.0]
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+4 -4
View File
@@ -61,11 +61,11 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
if personality==custom.LongitudinalPersonalitySP.relaxed:
return 1.3
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.2
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 0.5
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.8
return 0.2
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.1
else:
@@ -86,7 +86,7 @@ def get_a_change_factor(v_ego, v_lead0, v_lead1, personality=custom.Longitudinal
a_change_cost_high_speed_factor = 1.5 # 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 = 5.0 # Much higher penalty for abrupt changes at high speeds (very cautious at high speeds)
a_change_cost_high_speed_factor = 3.0 # 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)