Long e2e planner: better xva weights (#24893)

better long xva weights
3 years ago · 2c877ce490
parent b701ea33ce
commit 2c877ce490
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -251,7 +251,7 @@ class LongitudinalMpc:
      self.solver.cost_set(i, 'Zl', Zl)

  def set_weights_for_xva_policy(self):
-    W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
+    W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
    for i in range(N):
      self.solver.cost_set(i, 'W', W)
    # Setting the slice without the copy make the array not contiguous,