From b55ae7f5f9f42bada0e61205d3f8760e24e71920 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 28 Jul 2024 22:44:10 -0400 Subject: [PATCH] Revert "try this to make car stop a bit further" This reverts commit 04872944955f8cc506cc8e6c7412c9ce94a42b33. --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index a2df527a5..7296a28b1 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: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 48874282e..62ed68a77 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -83,7 +83,7 @@ class LongitudinalPlanner: self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 0.5, self.dt) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N)