1-bar (1.35, 1.1)

More conservative 1-bar follow
cfranyota · Feb 25, 2022 · d392cf8 · d392cf8
1 parent 1ec9dda
commit d392cf8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -344,7 +344,7 @@ def update_TF(self, carstate):
       # At slow speeds more time, decrease time up to 60mph
       # in mph ~= 5     10   15   20  25     30    35     40  45     50    55     60  65     70    75     80  85     90
       x_vel = [0, 2.25, 4.5, 6.75, 9, 11.25, 13.5, 15.75, 18, 20.25, 22.5, 24.75, 27, 29.25, 31.5, 33.75, 36, 38.25, 40.5]
-      y_dist = [1.25, 1.24, 1.23, 1.22, 1.21, 1.20, 1.18, 1.16, 1.13, 1.11, 1.09, 1.07, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05, 1.05]
+      y_dist = [1.35, 1.34, 1.33, 1.32, 1.31, 1.3, 1.28, 1.26, 1.23, 1.21, 1.19, 1.17, 1.15, 1.13, 1.12, 1.1, 1.1, 1.1, 1.1]
       new_TF = np.interp(carstate.vEgo, x_vel, y_dist)
     elif carstate.distanceLines == 2: # Relaxed
       new_TF = 1.25