mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-10-01 03:53:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

staged

Browse Source
This commit is contained in:
Kumar
2024-08-17 13:01:01 -07:00
committed by GitHub
parent 36109bc743
commit d00d623173
3 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/toyota/interface.py
+1 -1
View File
@@ -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, 0.22, 0.20, 0.17, 0.12, 0.08, 0.06]
tune.kiV = [0.336, 0.213, 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()
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+5 -5
View File
@@ -93,13 +93,13 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
y_dist = [1.0, 1.0, 1.75, 1.75, 1.83]
elif personality==custom.LongitudinalPersonalitySP.standard:
x_vel = [0, 5., 5.01, 20., 27.7]
y_dist = [1.1, 1.4, 1.75, 1.75, 1.80]
y_dist = [1.45, 1.45, 1.75, 1.75, 1.80]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0, 5., 5.01, 20., 27.7]
y_dist = [1.0, 1.3, 1.45, 1.45, 1.50]
x_vel = [0, 27.69, 27.7]
y_dist = [1.45, 1.45, 1.50]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0, 5., 5.01, 14, 14.01, 20., 27.7]
y_dist = [0.8, 1.1, 1.10, 1.10, 1.10, 1.10, 1.30]
x_vel = [0, 27.69, 27.7]
y_dist = [1.10, 1.10, 1.30]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)
selfdrive/controls/lib/sunnypilot/accel_controller.py
+1 -1
View File
@@ -31,7 +31,7 @@ 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 = [-0.032, -0.032, -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_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_MAX_V = [2.0, 2.0, 1.9, 1.60, 1.11, .73, .55, .38, .16]