try stopping closer

3 months ago · 828ec7cf3a
parent 26a4643db8
commit 828ec7cf3a
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -54,7 +54,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 6.0
+STOP_DISTANCE = 4.0
 CRUISE_MIN_ACCEL = -1.2
 CRUISE_MAX_ACCEL = 1.6