Update interface.py DP tune

cfranyota · Jul 21, 2023 · 4980204 · 4980204
1 parent 9e58444
commit 4980204
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -288,10 +288,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
       set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
     elif candidate in TSS2_CAR:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.vEgoStopping = 0.2  # car is near 0.1 to 0.2 when car starts requesting stopping accel
-      ret.vEgoStarting = 0.2  # needs to be > or == vEgoStopping
-      ret.stopAccel = -2.0  # Toyota requests -0.4 when stopped
-      ret.stoppingDecelRate = 0.8  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
+      ret.vEgoStopping = 0.15  # car is near 0.1 to 0.2 when car starts requesting stopping accel
+      ret.vEgoStarting = 0.15 # needs to be > or == vEgoStopping
+      ret.stopAccel = -0.4  # Toyota requests -0.4 when stopped
+      ret.stoppingDecelRate = 0.05  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)