Don't release brakes when stop requested at 9m

netadvanced · Mar 27, 2020 · 828a01c · 828a01c
1 parent 397ab98
commit 828a01c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
@@ -199,7 +199,7 @@ def update(self, active, v_ego, gas_pressed, brake_pressed, standstill, cruise_s
       # Keep applying brakes until the car is stopped
       factor = 1
       if hasLead:
-        factor = interp(dRel,[2.0,3.0,4.0,5.0,6.0,7.0,8.0,9.0], [5.0,2.5,1.0,0.5,0.25,0.05,0.0,-0.1])
+        factor = interp(dRel,[2.0,3.0,4.0,5.0,6.0,7.0,8.0], [5.0,2.5,1.0,0.5,0.25,0.05,0.0])
       if not standstill or output_gb > -BRAKE_STOPPING_TARGET:
         output_gb -= STOPPING_BRAKE_RATE / RATE * factor
       output_gb = clip(output_gb, -brake_max, gas_max)