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Increase braking to ISO 15622-2018; tune accelerating. #114

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Increase braking to ISO 15622-2018; tune accelerating. #114

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15 changes: 8 additions & 7 deletions selfdrive/controls/lib/longitudinal_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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.]

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