From c1cc78d401d92af2f2a3a061ea19a8a2cdbda89e Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Sun, 18 Aug 2024 20:13:24 -0700 Subject: [PATCH] tiny tiny --- selfdrive/car/toyota/interface.py | 2 +- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 4 ++-- selfdrive/controls/lib/sunnypilot/accel_controller.py | 8 ++++---- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 4b31aeea3f..171aeb7f62 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase): #tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06] #smooth tune.kiBP = [0., 8., 12., 20., 27., 36., 50] - tune.kiV = [0.336, 0.213, 0.20, 0.17, 0.12, 0.08, 0.06] + tune.kiV = [0.326, 0.206, 0.20, 0.17, 0.12, 0.08, 0.06] #tune.kiBP = [0., 2., 5., 12., 16, 20., 27., 36., 50] #tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06] custom_tss2_longitudinal_tuning() diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 8d60abf74a..68295bd492 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -98,8 +98,8 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP. x_vel = [0, 27.69, 27.7] y_dist = [1.45, 1.45, 1.40] elif personality==custom.LongitudinalPersonalitySP.aggressive: - x_vel = [0, 27.69, 27.7] - y_dist = [1.10, 1.10, 1.20] + x_vel = [0, 20.0, 20.01, 27.69, 27.7] + y_dist = [1.0, 1.0, 1.10, 1.10, 1.20] else: raise NotImplementedError("Dynamic personality not supported") return np.interp(v_ego, x_vel, y_dist) diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py index fc370dd339..ce4c85a0cd 100644 --- a/selfdrive/controls/lib/sunnypilot/accel_controller.py +++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py @@ -29,10 +29,10 @@ from openpilot.common.numpy_fast import interp AccelPersonality = custom.AccelerationPersonality # accel personality by @arne182 modified by cgw and kumar -_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.39, -0.39, -0.59, -0.59, -0.79, -0.79, -1.0, -1.0, -0.75] -_DP_CRUISE_MIN_V_ECO = [-0.030, -0.030, -0.100, -0.100, -0.38, -0.38, -0.58, -0.58, -0.78, -0.78, -1.0, -1.0, -0.65] -_DP_CRUISE_MIN_V_SPORT = [-0.102, -0.102, -0.102, -0.102, -0.40, -0.40, -0.60, -0.60, -0.80, -0.80, -1.0, -1.0, -0.85] -_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 10., 10.01, 14., 14.01, 18., 18.01, 22., 22.01, 30., 30.01] +_DP_CRUISE_MIN_V = [-0.031, -0.031, -0.101, -0.101, -0.39, -0.39, -0.59, -0.59, -0.79, -0.79, -1.0, -1.0] +_DP_CRUISE_MIN_V_ECO = [-0.030, -0.030, -0.100, -0.100, -0.38, -0.38, -0.58, -0.58, -0.78, -0.78, -1.0, -1.0] +_DP_CRUISE_MIN_V_SPORT = [-0.102, -0.102, -0.102, -0.102, -0.40, -0.40, -0.60, -0.60, -0.80, -0.80, -1.0, -1.0] +_DP_CRUISE_MIN_BP = [0., 5.0, 5.01, 10., 10.01, 14., 14.01, 18., 18.01, 22., 22.01, 30.] _DP_CRUISE_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .73, .55, .38, .17] _DP_CRUISE_MAX_V_ECO = [2.0, 2.0, 1.8, 1.35, 0.86, .53, .43, .32, .09]