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fix max speed comments

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old-commit-hash: 44adea73ce
commatwo_master
Harald Schafer 4 years ago
parent 83a0271f2c
commit cf3c8cd301
2 changed files with 6 additions and 7 deletions
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  1. 4
      selfdrive/car/interfaces.py
  2. 9
      selfdrive/controls/lib/drive_helpers.py

4
selfdrive/car/interfaces.py
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@ -14,9 +14,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
GearShifter = car.CarState.GearShifter GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
# WARNING: this value was determined based on the model's training distribution, MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
# model predictions above this speed can be unpredictable
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
ACCEL_MAX = 2.0 ACCEL_MAX = 2.0
ACCEL_MIN = -3.5 ACCEL_MIN = -3.5

9
selfdrive/controls/lib/drive_helpers.py
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@ -5,10 +5,11 @@ from common.realtime import DT_MDL
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.modeld.constants import T_IDXS from selfdrive.modeld.constants import T_IDXS
# kph # WARNING: this value was determined based on the model's training distribution,
V_CRUISE_MAX = 145 # model predictions above this speed can be unpredictable
V_CRUISE_MIN = 8 V_CRUISE_MAX = 145 # kph
V_CRUISE_ENABLE_MIN = 40 V_CRUISE_MIN = 8 # kph
V_CRUISE_ENABLE_MIN = 40 # kph
LAT_MPC_N = 16 LAT_MPC_N = 16
LON_MPC_N = 32 LON_MPC_N = 32

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