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

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* lower min lane change speed to 30mph

* update refs
old-commit-hash: 2319d726fb
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 71f065bf19
commit 7850141e1a
2 changed files with 2 additions and 2 deletions
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  1. 2
      selfdrive/controls/lib/lateral_planner.py
  2. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/controls/lib/lateral_planner.py
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@ -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]

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
3d5755261e5807d695b4a7e1c33c27a5baed4606
724ca5ef28a601d5c78e63fb59890c6c93bd07d7
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