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Update long_mpc.py

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Kumar
2024-10-22 05:04:02 -07:00
committed by rav4kumar
parent c41f3ed92f
commit b99eb7d379
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -365,7 +365,7 @@ class LongitudinalMpc:
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard):
def set_weights(self, prev_accel_constraint=True, v_lead0 = 0., v_lead1 = 0., personality=custom.LongitudinalPersonalitySP.standard):
v_ego = self.x0[1]
jerk_factor = get_jerk_factor(personality)
a_change_factor = get_a_change_factor(v_ego, v_lead0, v_lead1, personality)