From c574fd0b5bbef992c910eaf29c6b5edbcc458f3d Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Mon, 2 Sep 2024 17:04:08 -0700 Subject: [PATCH] Update long_mpc.py --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 12a88f6533..7e168a1bd2 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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)