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TODO-SP

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Jason Wen
2025-03-20 13:50:04 -04:00
parent bacf54d22a
commit e851dd250d
1 changed files with 2 additions and 0 deletions
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sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
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@@ -65,6 +65,8 @@ class LatControlTorqueExtBase:
# Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent
# using a "future" value that is actually planned to occur before the "current" desired
# value, which is offset by the steerActuatorDelay.
# TODO-SP: Reevaluate lookahead v values that determines how low a desired lateral jerk signal needs to
# persist in order to be used.
self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments
self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments