Relative velocity and not additive

Chrispreilly · Nov 9, 2019 · d5d9f9a · d5d9f9a
1 parent c2461c4
commit d5d9f9a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
@@ -121,7 +121,7 @@ def smooth_follow(self):  # in m/s
     if self.v_lead is not None:  # since the new mpc now handles braking nicely, simplify mods
       x = [0, 0.61, 1.26, 2.1, 2.68]  # relative velocity values
       y = [0, -0.017, -0.053, -0.154, -0.272]  # modification values
-      TR_mod = interp(self.v_lead + self.v_ego, x, y)  # quicker acceleration/don't brake when lead is overtaking
+      TR_mod = interp(self.v_lead - self.v_ego, x, y)  # quicker acceleration/don't brake when lead is overtaking
 
       '''x = [-1.49, -1.1, -0.67, 0.0, 0.67, 1.1, 1.49]
       y = [0.056, 0.032, 0.016, 0.0, -0.016, -0.032, -0.056]