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mpc tuning report: minor improvements (#37167)

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felsager
2026-02-11 10:21:12 -08:00
committed by GitHub
parent b9344af9bb
commit 5b98ea04ad
1 changed files with 7 additions and 6 deletions
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13
tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
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@@ -186,12 +186,13 @@ def generate_mpc_tuning_report():
for stop_time in np.arange(4, 14, 1):
man = Maneuver(
'',
duration=50,
duration=30,
initial_speed=30.0,
cruise_values=[30.0, 30.0, 30.0],
lead_relevancy=True,
initial_distance_lead=60.0,
speed_lead_values=[30.0, 30.0, 0.0, 0.0],
breakpoints=[0., 20., 20 + stop_time, 30 + stop_time],
speed_lead_values=[30.0, 30.0, 0.0],
breakpoints=[0., 5., 5 + stop_time],
)
valid, results[stop_time] = man.evaluate()
results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
@@ -208,12 +209,12 @@ def generate_mpc_tuning_report():
for speed in np.arange(0, 40, 5):
man = Maneuver(
'',
duration=10,
duration=20,
initial_speed=float(speed),
cruise_values=[speed, speed, speed],
lead_relevancy=True,
initial_distance_lead=desired_follow_distance(speed, speed)/2,
speed_lead_values=[speed, speed, speed],
cruise_values=[speed, speed, speed],
prob_lead_values=[0.0, 0.0, 1.0],
breakpoints=[0., 5.0, 5.01],
)
@@ -231,7 +232,7 @@ def generate_mpc_tuning_report():
for speed in np.arange(0, 40, 5):
man = Maneuver(
'',
duration=50,
duration=60,
initial_speed=0.0,
lead_relevancy=True,
initial_distance_lead=desired_follow_distance(0.0, 0.0),