Reduce highlander lane hug

mespiritu · Mar 26, 2019 · d547447 · d547447
1 parent 49d4cad
commit d547447
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -217,7 +217,7 @@ def get_params(candidate, fingerprint):
       tire_stiffness_factor = 0.444 # not optimized yet
       ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
       ret.steerKpV, ret.steerKiV = [[0.18], [0.0075]]
-      ret.steerKf = 0.00030
+      ret.steerKf = 0.00015
       if ret.enableGasInterceptor:
         ret.gasMaxV = [0.2, 0.5, 0.7]
         ret.longitudinalKpV = [1.2, 0.8, 0.5]