Reduce jerky braking

dylanl321 · Apr 27, 2019 · 9457df0 · 9457df0
1 parent 49f4ee6
commit 9457df0
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
@@ -26,15 +26,15 @@
 
 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
+_A_CRUISE_MIN_V  = [-.8, -.7, -.6, -.5, -.3]
 _A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  55.]
 
 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
 _A_CRUISE_MAX_V = [3.5, 3.0, 1.5, .5, .3]
-_A_CRUISE_MAX_V_ECO = [1.6, 1.5, 1.0, 0.3, 0.1]
+_A_CRUISE_MAX_V_ECO = [1.0, 1.5, 1.0, 0.3, 0.1]
 _A_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.5, 3.5, 3.5]
-_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 1.2, .7, .3]
+_A_CRUISE_MAX_V_FOLLOWING = [1.3, 1.6, 1.2, .7, .3]
 _A_CRUISE_MAX_BP = [0.,  5., 10., 20., 55.]
 
 # Lookup table for turns