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Do not allow engagement outside of training distribution (#20112) 

* higher is out of the training distribution

* Update RELEASES.md

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/20114/head
HaraldSchafer 2021-02-18 17:16:20 -08:00 committed by GitHub
parent 63c1e393ea
commit a0cdacbb2a
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3 changed files with 3 additions and 2 deletions
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1
RELEASES.md
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@ -3,6 +3,7 @@ Version 0.8.2 (2021-XX-XX)
* Use model points directly in MPC (no more polyfits), this makes lateral planning more accurate
* Use model heading prediction for smoother lateral control
* Smarter actuator delay compensation
* Adjust maximum engagement speed to better fit the model's training distribution
* Audi A3 2015 support thanks to keeleysam!
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
* Toyota Camry Hybrid 2021 support thanks to alancyau!

2
selfdrive/car/interfaces.py
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@ -13,7 +13,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
GearShifter = car.CarState.GearShifter
EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
# generic car and radar interfaces

2
selfdrive/controls/lib/drive_helpers.py
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@ -3,7 +3,7 @@ from selfdrive.config import Conversions as CV
from cereal import car
# kph
V_CRUISE_MAX = 144
V_CRUISE_MAX = 135
V_CRUISE_MIN = 8
V_CRUISE_DELTA = 8
V_CRUISE_ENABLE_MIN = 40