More extreme lead init for lead mpc (#22273)

* More harsh lead init for lead mpc * update refs old-commit-hash: 7495100177
4 years ago · bc1882e3fb
parent f235e39bda
commit bc1882e3fb
2 changed files with 2 additions and 2 deletions
--- 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
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-a1fcedda21d1ff7d53bd647dc4359c5e5941bf47
+03585a6e067ff58f1030450efc55cd225dc2ffc3