From bc1882e3fb964fcc6526a24004dc874da99bdef0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 20 Sep 2021 09:35:55 -0700 Subject: [PATCH] More extreme lead init for lead mpc (#22273) * More harsh lead init for lead mpc * update refs old-commit-hash: 7495100177acd53f06e553a49207b8413db9e2e2 --- selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py b/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py index 809e5eac58..26b4858eca 100644 --- a/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py +++ b/selfdrive/controls/lib/lead_mpc_lib/lead_mpc.py @@ -186,7 +186,7 @@ class LeadMpc(): t += dt def init_with_sim(self, v_ego, lead_xv, a_lead_0): - a_ego = min(0.0, -(v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0) + a_ego = min(0.0, -2 * (v_ego - lead_xv[0,1]) * (v_ego - lead_xv[0,1]) / (2.0 * lead_xv[0,0] + 0.01) + a_lead_0) dt =.2 t = .0 x_ego = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8ada2aa1ab..256adfe65b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a1fcedda21d1ff7d53bd647dc4359c5e5941bf47 \ No newline at end of file +03585a6e067ff58f1030450efc55cd225dc2ffc3 \ No newline at end of file