From c97fa56bd328d4b367991dd9688290952f6d17c8 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 1 Jul 2024 16:22:12 -0400 Subject: [PATCH] Toyota Longitudinal: New TSS2 Tuning --- selfdrive/car/toyota/interface.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 451265f9cd..dca2cfd12a 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -164,7 +164,7 @@ class CarInterface(CarInterfaceBase): def custom_tss2_longitudinal_tuning(): ret.vEgoStopping = 0.01 ret.vEgoStarting = 0.01 - ret.stoppingDecelRate = 0.35 + ret.stoppingDecelRate = 0.40 def default_tss2_longitudinal_tuning(): ret.vEgoStopping = 0.25 @@ -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., 5., 12., 20., 27., 36., 50] - tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.10, 0.07, 0.01] + tune.kiBP = [0., 12., 16, 20., 27., 36., 50] + tune.kiV = [0.33, 0.22, 0.19, 0.17, 0.10, 0.07, 0.01] custom_tss2_longitudinal_tuning() else: tune.kpV = [0.0]