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Update long_mpc.py

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Kumar
2025-03-04 08:17:29 -07:00
committed by GitHub
parent 64e7f2000f
commit e7f56a2889
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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@@ -105,8 +105,8 @@ def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego, time_to_max_brake=0.3
smooth_initial_brake = np.clip(initial_brake_factor / time_to_max_brake, 0, 1)
# Gradual deceleration curve for smoother stopping
decel_curve_factor = 1 / (1 + np.exp(-2 * (v_ego / 20 - 0.5))) # Slower brake as speed drops
smooth_initial_brake *= decel_curve_factor # Apply deceleration curve to braking force
#decel_curve_factor = 1 / (1 + np.exp(-2 * (v_ego / 20 - 0.5))) # Slower brake as speed drops
#smooth_initial_brake *= decel_curve_factor # Apply deceleration curve to braking force
# Calculate stopping distance with smoother braking force
distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset