tweak gradient and comfort bands

selfdrive/car/volkswagen/carcontroller.py

@@ -41,7 +41,7 @@ class CarController():
         acc_status = CS.tsk_status
 
       accel = clip(actuators.accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
-      jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
+      jerk = clip(2.0 * abs(accel - CS.out.aEgo), -12.7, 12.7)
 
       acc_hold_request, acc_hold_release = False, False
       if actuators.longControlState == LongCtrlState.stopping:

selfdrive/car/volkswagen/volkswagencan.py

@@ -55,7 +55,7 @@ def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, jerk, acc
     "ACC_Status_ACC": acc_status,
     "ACC_StartStopp_Info": enabled,
     "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
-    "ACC_zul_Regelabw_unten": 0.2 if enabled else 0,  # FIXME: need comfort regulation logic here
+    "ACC_zul_Regelabw_unten": 0.1 if enabled else 0,  # FIXME: need comfort regulation logic here
     "ACC_zul_Regelabw_oben": 0.1 if enabled else 0,  # FIXME: need comfort regulation logic here
     "ACC_neg_Sollbeschl_Grad_02": jerk if enabled else 0,
     "ACC_pos_Sollbeschl_Grad_02": jerk if enabled else 0,