10s lat

3 years ago · 117ad7d5ad
parent b9a01752fc
commit 117ad7d5ad
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@ -17,7 +17,7 @@ EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
 X_DIM = 4
 P_DIM = 2
-N = 16
+N = 32
 COST_E_DIM = 3
 COST_DIM = COST_E_DIM + 2
 SPEED_OFFSET = 10.0