From 4e19022b1264fd42a2b22f1cdc289996373a13b1 Mon Sep 17 00:00:00 2001 From: Stupefacient Date: Sat, 28 May 2022 19:06:12 -0400 Subject: [PATCH] better speedoffset (#63) --- selfdrive/controls/lib/speed_limit_controller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/speed_limit_controller.py b/selfdrive/controls/lib/speed_limit_controller.py index 679f5a7ae6f259..b7daf7587229f0 100644 --- a/selfdrive/controls/lib/speed_limit_controller.py +++ b/selfdrive/controls/lib/speed_limit_controller.py @@ -15,8 +15,8 @@ _TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal. # Lookup table for speed limit percent offset depending on speed. -_LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038] # 55, 105, 135 km/h -_LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1] # 50, 100, 130 km/h +_LIMIT_PERC_OFFSET_V = [0.0, 0.1, 0.11, 0.2, 0.18, 0.17, 0.14, 0.065, 0.0] +_LIMIT_PERC_OFFSET_BP = [11.0, 13.4, 20.1, 22.3, 24.58, 29.0, 31.2, 33.4, 35.7] SpeedLimitControlState = log.LongitudinalPlan.SpeedLimitControlState EventName = car.CarEvent.EventName