From d54744769a8dd2b38f44de55ec92ab02b30ce25f Mon Sep 17 00:00:00 2001 From: arne182 Date: Tue, 26 Mar 2019 11:04:01 +0100 Subject: [PATCH] Reduce highlander lane hug --- selfdrive/car/toyota/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 2c627ecae4428b..f32f0d0b249787 100755 --- 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]