Toyota: lower stopping speed (#26274)

* lower toyota stopping speed * order * Update selfdrive/car/toyota/interface.py * Update ref_commit
3 years ago · ba7a474765
parent f36a3664b0
commit ba7a474765
2 changed files with 3 additions and 1 deletions
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -225,6 +225,8 @@ class CarInterface(CarInterfaceBase):
      tune.kiBP = [0., 5., 12., 20., 27.]
      tune.kiV = [.35, .23, .20, .17, .1]
      if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
    else:
      tune.kpBP = [0., 5., 35.]
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-9876d91c77d3f7611398c43c4d79237cadb01c9c
+3523d88432d661ee0d1022e9a4774f3455c832b5