From cdb2c42ca213162eb2e6eb1be8e14af4e3725b30 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 13 Jul 2021 14:22:06 -0700 Subject: [PATCH] Lower speed for lowest planned acceleration (#21578) * 55mph sounds about right * update refs old-commit-hash: fd41e9f01b98e259f7c8431a79d71636075e4504 --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index d95f68b3eb..8dd5eb362a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -20,7 +20,7 @@ LON_MPC_STEP = 0.2 # first step is 0.2s AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8] -A_CRUISE_MAX_BP = [0., 15., 40.] +A_CRUISE_MAX_BP = [0., 15., 25.] # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f9db78fd5b..6d9d3104a9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9837021bf19bf6cddd6ef737564158b05c7333ed \ No newline at end of file +c615f63b3d38d9a15375890b64e0c45ae59bf7a1 \ No newline at end of file