lower min lane change speed to 30mph (#20586)

* lower min lane change speed to 30mph * update refs
4 years ago · 2319d726fb
parent 9e4748db8b
commit 2319d726fb
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -17,7 +17,7 @@ LaneChangeDirection = log.LateralPlan.LaneChangeDirection

 LOG_MPC = os.environ.get('LOG_MPC', False)

-LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
+LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 # this corresponds to 80deg/s and 20deg/s steering angle in a toyota corolla
 MAX_CURVATURE_RATES = [0.03762194918267951, 0.003441203371932992]
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-3d5755261e5807d695b4a7e1c33c27a5baed4606
+724ca5ef28a601d5c78e63fb59890c6c93bd07d7