From 828a01cc45a2eda6bc24ae308fc888afd1cf08a7 Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Fri, 27 Mar 2020 14:33:42 +0100 Subject: [PATCH] Don't release brakes when stop requested at 9m --- selfdrive/controls/lib/longcontrol.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 05006398ec22e3..0eac4a9505e31a 100644 --- 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)