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Update accel_controller.py

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This commit is contained in:
Kumar
2025-11-16 16:11:47 -07:00
committed by GitHub
parent 495bacc576
commit f275604cb2
1 changed files with 6 additions and 5 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py
+6 -5
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@@ -14,16 +14,16 @@ AccelPersonality = custom.LongitudinalPlanSP.AccelerationPersonality
# Acceleration Profiles
MAX_ACCEL_PROFILES = {
AccelPersonality.eco: [1.9, 1.96, 1.60, .805, .520, .32, .23, .110],
AccelPersonality.normal: [2.0, 1.98, 1.74, .850, .560, .40, .29, .158],
AccelPersonality.sport: [2.0, 2.00, 2.00, 2.00, .999, .70, .40, .200],
AccelPersonality.eco: [1.8, 1.80, 1.40, .700, .410, .30, .22, .009],
AccelPersonality.normal: [1.9, 1.90, 1.50, .800, .530, .40, .26, .120],
AccelPersonality.sport: [2.0, 2.00, 1.60, .900, .680, .50, .35, .200],
}
MAX_ACCEL_BREAKPOINTS = [0., 4., 6., 9., 16., 25., 30., 55.]
# Braking Profiles
MIN_ACCEL_PROFILES = {
AccelPersonality.eco: [-0.32, -0.32, -1.20],
AccelPersonality.normal: [-1.20, -1.20, -1.20],
AccelPersonality.eco: [-1.20, -1.20, -1.20],
AccelPersonality.normal: [-1.30, -1.30, -1.30],
AccelPersonality.sport: [-1.30, -1.40, -1.40],
}
MIN_ACCEL_BREAKPOINTS = [5., 10., 36.]
@@ -37,6 +37,7 @@ MAX_DECEL_INCREASE_RATE = 0.1 # When braking harder (m/s² per second)
MAX_DECEL_DECREASE_RATE = 0.30 # When releasing brake (m/s² per second)
class AccelPersonalityController:
def __init__(self):