From 2319d726fbc81d949fc7313c7536a7f5e2e7e8c5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 5 Apr 2021 15:38:53 -0700 Subject: [PATCH] lower min lane change speed to 30mph (#20586) * lower min lane change speed to 30mph * update refs --- selfdrive/controls/lib/lateral_planner.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 3b7772df0d..cc81ae8b39 100644 --- 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] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 420174b6a7..646026b0aa 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3d5755261e5807d695b4a7e1c33c27a5baed4606 \ No newline at end of file +724ca5ef28a601d5c78e63fb59890c6c93bd07d7 \ No newline at end of file