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update tuning

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This commit is contained in:
Jason Wen
2024-07-01 16:23:06 -04:00
parent f0d2fd4649
commit 9ee63438ef
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+3 -3
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@@ -63,9 +63,9 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.standard:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.moderate:
return 0.75
return 0.8
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 0.5
return 0.6
else:
raise NotImplementedError("Longitudinal personality not supported")
@@ -95,7 +95,7 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
y_dist = [1.3, 1.3, 1.3, 1.35, 1.35, 1.385, 1.385, 1.4, 1.4, 1.45]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 5, 5.01, 11, 14.5, 15, 20, 20.01, 25, 25.01, 36, 36.01]
y_dist = [1.25, 1.25, 1.12, 1.12, 1.12, 1.105, 1.105, 1.15, 1.15, 1.18, 1.20, 1.23]
y_dist = [1.12, 1.12, 1.12, 1.12, 1.12, 1.105, 1.105, 1.15, 1.15, 1.18, 1.20, 1.23]
else:
raise NotImplementedError("Dynamic personality not supported")