From f093f460a3751e8a8b2e6db62cc55a091234ea61 Mon Sep 17 00:00:00 2001 From: rav4kumar Date: Fri, 23 Aug 2024 07:42:48 -0700 Subject: [PATCH] firyahhhhh! --- selfdrive/car/toyota/interface.py | 2 +- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 7 +++---- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 31043e1a87..b4ecc88f80 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -179,7 +179,7 @@ class CarInterface(CarInterfaceBase): if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED: if sp_tss2_long_tune: tune.kiBP = [0., 3., 8., 12., 20., 27., 36., 50] - tune.kiV = [0.322, 0.248, 0.223, 0.20, 0.17, 0.12, 0.08, 0.06] + tune.kiV = [0.322, 0.244, 0.224, 0.202, 0.17, 0.12, 0.08, 0.06] custom_tss2_longitudinal_tuning() else: tune.kpV = [0.0] diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 68295bd492..12a88f6533 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -92,19 +92,18 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP. x_vel = [0, 5., 5.01, 20., 27.7] 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 = [1.45, 1.45, 1.75, 1.75, 1.70] + x_vel = [0, 20., 27.7] + y_dist = [1.75, 1.75, 1.70] elif personality==custom.LongitudinalPersonalitySP.moderate: x_vel = [0, 27.69, 27.7] y_dist = [1.45, 1.45, 1.40] elif personality==custom.LongitudinalPersonalitySP.aggressive: x_vel = [0, 20.0, 20.01, 27.69, 27.7] - y_dist = [1.0, 1.0, 1.10, 1.10, 1.20] + y_dist = [1.07, 1.07, 1.12, 1.12, 1.20] else: raise NotImplementedError("Dynamic personality not supported") return np.interp(v_ego, x_vel, y_dist) - def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE)