Long e2e planner: better xva weights (#24893)

better long xva weights
commaai · Jun 17, 2022 · 2c877ce · 2c877ce
1 parent b701ea3
commit 2c877ce
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
@@ -251,7 +251,7 @@ def set_weights_for_lead_policy(self, prev_accel_constraint=True):
       self.solver.cost_set(i, 'Zl', Zl)
 
   def set_weights_for_xva_policy(self):
-    W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
+    W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1]))
     for i in range(N):
       self.solver.cost_set(i, 'W', W)
     # Setting the slice without the copy make the array not contiguous,