Taper off high speed accel (#21599)

* max 0.2 diff from before to preserve bad tuned cars

* update ref
old-commit-hash: 5d07819084

selfdrive/controls/lib/longitudinal_planner.py

@@ -19,8 +19,8 @@ from selfdrive.swaglog import cloudlog
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8]
-A_CRUISE_MAX_BP = [0., 15., 25.]
+A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_BP = [0., 15., 25., 40.]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-5d8ade78ab7b2aa678a8025eba58477579db71ad
+97382f81d5d59213c25b5a3b553b3da2076742a2