From fc2424b77ff901c8a033250ca25f2cd313245a1b Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 4 Mar 2025 08:19:53 -0700 Subject: [PATCH] Update long_mpc.py --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 1386983b09..d45f64645a 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -93,7 +93,7 @@ def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego, time_to_max_brake=0.3 v_diff_offset = np.clip(delta_speed, 0, STOP_DISTANCE / 2) # Aggressive scaling factor for low speeds to allow faster takeoff - scaling_factor = np.interp(v_ego, [0, 10, 30], [1.5, 1.0, 0.5]) # Increased factor for lower speeds + scaling_factor = np.interp(v_ego, [0, 10, 30], [1.0, 0.5, 0.2]) # Increased factor for lower speeds v_diff_offset *= scaling_factor # More aggressive fast takeoff: increase offset by 3x when ego vehicle is moving slowly