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减小跟车距离

This commit is contained in:
1okko 2024-10-07 12:42:58 +08:00
parent 4a874da91f
commit c595072ddb
1 changed files with 4 additions and 4 deletions
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8
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -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 = 5.0
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
@ -70,11 +70,11 @@ def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
return 1.5
elif personality==log.LongitudinalPersonality.standard:
return 1.45
return 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
return 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")