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fix(long): widen lead follow

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rav4kumar
2026-08-17 15:18:52 -07:00
parent 3bcbb4d1ff
commit c7462fa5c1
1 changed files with 1 additions and 1 deletions
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openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/accel_controller.py
+1 -1
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@@ -36,7 +36,7 @@ LEAD_GAP_WIDEN_PROFILES = {
AccelProfile.normal: 0.20,
AccelProfile.sport: 0.10,
}
LEAD_DECEL_FOR_MAX_WIDEN = 4.5 # m/s^2, lead decel that saturates the widen amount
LEAD_DECEL_FOR_MAX_WIDEN = 3.0 # m/s^2, lead decel that saturates the widen amount
GAP_WIDEN_ONSET_ALPHA = 0.15
GAP_WIDEN_RELEASE_ALPHA = 0.08
# Taper out below city speed so the lever only shapes higher-speed anticipation.