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Lower speed for lowest planned acceleration (#21578)

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* 55mph sounds about right

* update refs
pull/21579/head
HaraldSchafer 4 years ago committed by GitHub
parent 7546608eb0
commit fd41e9f01b
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2 changed files with 2 additions and 2 deletions
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  1. 2
      selfdrive/controls/lib/longitudinal_planner.py
  2. 2
      selfdrive/test/process_replay/ref_commit

2
selfdrive/controls/lib/longitudinal_planner.py
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@ -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 AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted
A_CRUISE_MIN = -1.2 A_CRUISE_MIN = -1.2
A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8] 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 # Lookup table for turns
_A_TOTAL_MAX_V = [1.7, 3.2] _A_TOTAL_MAX_V = [1.7, 3.2]

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
9837021bf19bf6cddd6ef737564158b05c7333ed c615f63b3d38d9a15375890b64e0c45ae59bf7a1
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