From e7f56a28892dd35e7fdf65b34231526ec0fc6f69 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 4 Mar 2025 08:17:29 -0700
Subject: [PATCH] Update long_mpc.py

---
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 20c3dd480d..1386983b09 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -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