long_mpc update, again!

dkiiv · Nov 14, 2024 · 596fb43 · 596fb43
1 parent 2e4ac5d
commit 596fb43
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -55,7 +55,7 @@
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 5.5
+STOP_DISTANCE = 5.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -109,7 +109,7 @@ def get_stopped_equivalence_factor(v_lead, v_ego):
   if np.all(v_lead - v_ego > 0):
     v_diff_offset = ((v_lead - v_ego) * 1.)
     v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2)
-    v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0)
+    v_diff_offset = np.maximum(v_diff_offset * ((15 - v_ego)/15), 0)
   distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
   return distance