mawei
/
edge
mirror of https://github.com/SusanYu25/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Revert "try this to make car stop a bit further" 

This reverts commit 0487294495.
This commit is contained in:
Jason Wen 2024-07-28 22:44:10 -04:00
parent 6f4ba97e3d
commit b55ae7f5f9
No known key found for this signature in database
GPG Key ID: EF8EA444C1E7B69C
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
View File

@ -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:

2
selfdrive/controls/lib/longitudinal_planner.py
View File

@ -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)