Lateral planner: lower max cost (#22960)

* prevent ping pong when tuning is not so great * update refs
3 years ago · 24aadaf1f3
parent ddea21e648
commit 24aadaf1f3
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -170,7 +170,7 @@ class LateralPlanner():
      self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
    else:
      d_path_xyz = self.path_xyz
-      path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 5.0) * MPC_COST_LAT.PATH
+      path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 1.5) * MPC_COST_LAT.PATH
      # Heading cost is useful at low speed, otherwise end of plan can be off-heading
      heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
      self.lat_mpc.set_weights(path_cost, heading_cost, CP.steerRateCost)
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-6540e8c5a765975fd292b1efdef97b2d6391fa9c
+848bc88a069b182d6f50698dd785ba360915e8dc