From 9257bcf0a528965ff24e73c8625ce6167e1d0bf3 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 6 Sep 2021 16:37:04 -0700 Subject: [PATCH] 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: 4c37ea98b53a4df5cba632ca26c8807c09edc62f --- panda | 2 +- selfdrive/car/toyota/values.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/panda b/panda index a723686fe2..d1b104950a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a723686fe2cc04627de9bae3f9696fa8b16879db +Subproject commit d1b104950a8821feff9df1f25b210d0bdbc8e4f5 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f0fbbb3bd9..3acaaf62eb 100644 --- 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