From 7a5dbe6132cc363570fe6fac106661f01b1319e2 Mon Sep 17 00:00:00 2001 From: eFini Date: Wed, 19 Jul 2023 17:07:01 +0800 Subject: [PATCH] long_mpc: clean up get_T_FOLLOW() usage (#29033) --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index b5998a2564..208c80f643 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -357,7 +357,7 @@ class LongitudinalMpc: v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW(personality)) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])]