From 91d5b10426f20ac03edcb8a6ea96576098d3f090 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 12 Jul 2021 18:30:56 -0700
Subject: [PATCH] less accel (#21565)

* less accel

* new refs

* Update longitudinal_planner.py

* update refs
old-commit-hash: a42d8f3a14132c3c0826ed106d61a617ce41936e
---
 selfdrive/car/honda/interface.py               | 4 ++--
 selfdrive/car/toyota/values.py                 | 3 ++-
 selfdrive/controls/lib/longitudinal_planner.py | 9 +++++++--
 selfdrive/test/process_replay/ref_commit       | 2 +-
 4 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index d265b1ed36..b4eef75cbc 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -8,7 +8,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car.honda.hondacan import disable_radar
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MAX as A_ACC_MAX
+from selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MAX_VALS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -120,7 +120,7 @@ class CarInterface(CarInterfaceBase):
     # accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
     # unless aTargetMax is very high and then we scale with it; this help in quicker restart
 
-    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
+    return float(max(max_accel, a_target / A_CRUISE_MAX_VALS[0])) * min(speedLimiter, accelLimiter)
 
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index c60280e569..3896d40c0b 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -3,6 +3,7 @@
 from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.config import Conversions as CV
+from selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MAX_VALS
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -10,7 +11,7 @@ PEDAL_HYST_GAP = 3. * CV.MPH_TO_MS
 
 class CarControllerParams:
   ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
-  ACCEL_MAX = 1.5  # 1.5 m/s2
+  ACCEL_MAX = A_CRUISE_MAX_VALS[0]
   ACCEL_MIN = -3.0  # 3   m/s2
   ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 9f7c0016b5..d95f68b3eb 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,13 +19,18 @@ from selfdrive.swaglog import cloudlog
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX = 1.2
+A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8]
+A_CRUISE_MAX_BP = [0., 15., 40.]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
 
 
+def get_max_accel(v_ego):
+  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+
+
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -85,7 +90,7 @@ class Planner():
     self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
     self.v_desired = max(0.0, self.v_desired)
 
-    accel_limits = [A_CRUISE_MIN, A_CRUISE_MAX]
+    accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
     accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     if force_slow_decel:
       # if required so, force a smooth deceleration
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c494d5cb3f..f9db78fd5b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-c59e46e21147ee1dc44b7fe2b5d1e4a16842c6c5
\ No newline at end of file
+9837021bf19bf6cddd6ef737564158b05c7333ed
\ No newline at end of file