From 9ee63438ef310e2f1ddbbf9aaf86b3a390e2c532 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 1 Jul 2024 16:23:06 -0400 Subject: [PATCH] update tuning --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 3a76350ccf..a2df527a55 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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")