From bc30aff4df8a2a55f89e29c5fa4e85c9db12cb46 Mon Sep 17 00:00:00 2001
From: wer5lcy <33412324+wer5lcy@users.noreply.github.com>
Date: Thu, 11 Nov 2021 17:16:59 +0800
Subject: [PATCH] Increase braking to ISO 15622-2018; tune accelerating.

---
 selfdrive/controls/lib/longitudinal_planner.py | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index f7e15e3c433dd2..64d003a8bf19fe 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -43,13 +43,14 @@
 DP_ACCEL_SPORT = 2
 
 # accel profile by @arne182 modified by @wer5lcy
-_DP_CRUISE_MIN_V = [-2.0, -1.8, -1.6, -1.4, -1.2]
-_DP_CRUISE_MIN_V_ECO = [-2.0, -1.6, -1.4, -1.2, -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
-_DP_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
-
-_DP_CRUISE_MAX_V = [1.6, 1.4, 1.0, 0.6, 0.3]
-_DP_CRUISE_MAX_V_ECO = [1.5, 1.3, 0.8, 0.4, 0.2]
+# leave braking to the model while adhereing ISO 15622-2018 @wer5lcy
+_DP_CRUISE_MIN_V = [-5.0, -5.0, -3.5, -3.5]
+_DP_CRUISE_MIN_V_ECO = [-5.0, -5.0, -3.5, -3.5]
+_DP_CRUISE_MIN_V_SPORT = [-5.0, -5.0, -3.5, -3.5]
+_DP_CRUISE_MIN_BP = [0.0, 5.0, 20.0, 55.0]
+
+_DP_CRUISE_MAX_V = [1.5, 1.3, 1.0, 0.6, 0.3]
+_DP_CRUISE_MAX_V_ECO = [1.2, 1.1, 0.8, 0.4, 0.2]
 _DP_CRUISE_MAX_V_SPORT = [3.0, 3.5, 3.0, 2.0, 2.0]
 _DP_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]