From 4a2b96ae4ecd37dd99395586d28b0bff59ebab4f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 29 Jul 2024 07:18:21 -0400 Subject: [PATCH] Revert "dynamic stopping distance" This reverts commit cb76fb797fa58e0a14017b49b1b4565ce899be18. --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 20838608be..7296a28b11 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -55,7 +55,7 @@ T_IDXS = np.array(T_IDXS_LST) FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) COMFORT_BRAKE = 2.5 -STOP_DISTANCE = 6.0 +STOP_DISTANCE = 8.0 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard): if personality==custom.LongitudinalPersonalitySP.relaxed: @@ -102,17 +102,11 @@ def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP. return np.interp(v_ego, x_vel, y_dist) -def get_stop_distance(v_ego): - v_ego = np.asarray(v_ego) - stop_distance = np.where(v_ego < 1.5, 8.0, STOP_DISTANCE) - return stop_distance - def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) def get_safe_obstacle_distance(v_ego, t_follow): - stop_distance = get_stop_distance(v_ego) - return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_distance + return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE def desired_follow_distance(v_ego, v_lead, t_follow=None): if t_follow is None: