From 2c877ce4907657d59111d5e850afb587b3be8d6e Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 17 Jun 2022 10:35:24 -0700 Subject: [PATCH] Long e2e planner: better xva weights (#24893) better long xva weights --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index bc0fc9fea6c04b..94efd7a87545d7 100644 --- 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,