From 6b6ac2bc67813ffd4bc8f0f9ee0376443108e3e8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 10 Dec 2022 02:25:16 -0800 Subject: [PATCH] Toyota: lower stopping speed (#26274) * lower toyota stopping speed * order * Update selfdrive/car/toyota/interface.py * Update ref_commit old-commit-hash: ba7a4747659a1340cfa7605a916466feb1405d05 --- selfdrive/car/toyota/interface.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d3835d175b..8e180e2301 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -225,6 +225,8 @@ class CarInterface(CarInterfaceBase): tune.kiBP = [0., 5., 12., 20., 27.] tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: tune.kpBP = [0., 5., 35.] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 64f1c5d472..57c5efd946 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9876d91c77d3f7611398c43c4d79237cadb01c9c +3523d88432d661ee0d1022e9a4774f3455c832b5