Extend Toyota braking to 3.5 m/s^2 according to ISO 15622:2018 (#22150)

* Extend toyota braking to 3.5 m/s^2 according to ISO 15622:2018 * bump panda old-commit-hash: 4c37ea98b5
4 years ago · 9257bcf0a5
parent c0c308b34e
commit 9257bcf0a5
2 changed files with 3 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit a723686fe2cc04627de9bae3f9696fa8b16879db
+Subproject commit d1b104950a8821feff9df1f25b210d0bdbc8e4f5
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -12,8 +12,8 @@ PEDAL_SCALE = 3.0

 class CarControllerParams:
  ACCEL_HYST_GAP = 0.06  # don't change accel command for small oscilalitons within this value
-  ACCEL_MAX = 1.5  # m/s2
-  ACCEL_MIN = -3.0  # m/s2
+  ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
+  ACCEL_MIN = -3.5  # m/s2

  STEER_MAX = 1500
  STEER_DELTA_UP = 10       # 1.5s time to peak torque