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Update long_mpc.py

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Kumar
2024-10-14 16:45:28 -07:00
committed by GitHub
parent 3e62928702
commit d13355d956
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+2 -2
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@@ -96,10 +96,10 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.
y_dist = [1.70, 1.70, 1.75, 1.75]
elif personality==custom.LongitudinalPersonalitySP.moderate:
x_vel = [0., 22., 22.01, 36.1]
y_dist = [1.45, 1.45, 1.50, 1.50]
y_dist = [1.45, 1.45, 1.55, 1.55]
elif personality==custom.LongitudinalPersonalitySP.aggressive:
x_vel = [0., 19.7, 19.71, 36.1]
y_dist = [1.25, 1.25, 1.30, 1.30]
y_dist = [1.25, 1.25, 1.35, 1.35]
else:
raise NotImplementedError("Dynamic personality not supported")
return np.interp(v_ego, x_vel, y_dist)