Add half the value to cost

netadvanced · Mar 12, 2020 · 16d9690 · 16d9690
1 parent 3c917f3
commit 16d9690
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
@@ -121,7 +121,7 @@ def change_cost(self, TR, vEgo):
       cost = 0.1
       cost = cost * min(max(1.0 , (6.0 - vEgo)),5.0) 
     if self.TR_Mod > 0:
-      cost = cost + self.TR_Mod/5.0
+      cost = cost + self.TR_Mod/2.0
     if self.last_cost != cost:
       self.libmpc.change_tr(MPC_COST_LONG.TTC, cost, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
       self.last_cost = cost