From 5b98ea04ad8fea33dbde3d9d1c22b7ee74dcfd3c Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Wed, 11 Feb 2026 10:21:12 -0800 Subject: [PATCH] mpc tuning report: minor improvements (#37167) --- .../mpc_longitudinal_tuning_report.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 547f45aa2..7623f669c 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -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),