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Update constants.py

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Kumar
2026-06-16 06:27:59 -07:00
committed by GitHub
parent aa23fd0e4a
commit bebe8f0b04
1 changed files with 5 additions and 4 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/constants.py
+5 -4
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@@ -29,16 +29,17 @@ RISE_RATE = {ECO: 0.02, NORMAL: STOCK_RISE_RATE, SPORT: 0.06}
# Early soft braking: predicted brake need (m/s^2) -> early decel target (m/s^2).
SMOOTH_DECEL_BP = [0.0, 0.4, 0.8, 1.2, 1.6, 2.0, 2.4]
SMOOTH_DECEL_V = {
ECO: [0.00, -0.08, -0.15, -0.20, -0.30, -0.40, -0.60],
NORMAL: [0.00, -0.13, -0.20, -0.40, -0.60, -0.80, -1.00],
SPORT: [0.00, -0.17, -0.40, -0.72, -1.05, -1.12, -1.40],
ECO: [0.00, -0.02, -0.05, -0.10, -0.25, -0.40, -0.60],
#ECO: [0.00, -0.08, -0.20, -0.30, -0.40, -0.70, -0.80],
NORMAL: [0.00, -0.13, -0.30, -0.55, -0.84, -1.12, -1.40],
SPORT: [0.00, -0.17, -0.40, -0.72, -1.05, -1.35, -1.65],
}
BRAKE_DEEPENING_JERK = {ECO: 0.5, NORMAL: 0.8, SPORT: 1.0}
BRAKE_RELEASE_JERK = 2.0
ACCEL_RISE_JERK = {ECO: 0.7, NORMAL: 1.2, SPORT: 1.6}
SMOOTH_DECEL_LOOKAHEAD_T = 3.0
MIN_SMOOTH_BRAKE_NEED = 0.5
MIN_SMOOTH_BRAKE_NEED = 0.2
HARD_BRAKE_TARGET_ACCEL = -1.5
HARD_BRAKE_NEED = 2.6