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fix max speed comments

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old-commit-hash: 44adea73ce
This commit is contained in:
Harald Schafer
2021-12-08 17:13:43 -08:00
parent 83a0271f2c
commit cf3c8cd301
2 changed files with 6 additions and 7 deletions
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selfdrive/car/interfaces.py
+1 -3
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@@ -14,9 +14,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
# WARNING: this value was determined based on the model's training distribution,
# model predictions above this speed can be unpredictable
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
selfdrive/controls/lib/drive_helpers.py
+5 -4
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@@ -5,10 +5,11 @@ from common.realtime import DT_MDL
from selfdrive.config import Conversions as CV
from selfdrive.modeld.constants import T_IDXS
# kph
V_CRUISE_MAX = 145
V_CRUISE_MIN = 8
V_CRUISE_ENABLE_MIN = 40
# WARNING: this value was determined based on the model's training distribution,
# model predictions above this speed can be unpredictable
V_CRUISE_MAX = 145 # kph
V_CRUISE_MIN = 8 # kph
V_CRUISE_ENABLE_MIN = 40 # kph
LAT_MPC_N = 16
LON_MPC_N = 32