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Update long_mpc.py

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Kumar
2024-09-02 17:04:08 -07:00
committed by GitHub
parent cf36500aef
commit c574fd0b5b
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+3 -3
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@@ -96,10 +96,10 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
y_dist = [1.75, 1.75, 1.70]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 27.69, 27.7]
y_dist = [1.45, 1.45, 1.40]
y_dist = [1.40, 1.40, 1.45]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 20.0, 20.01, 27.69, 27.7]
y_dist = [1.07, 1.07, 1.12, 1.12, 1.20]
x_vel = [0, 8., 20.0, 20.01, 27.69, 27.7]
y_dist = [0, 1.12, 1.12, 1.12, 1.12, 1.20]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)