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
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@ -3,6 +3,7 @@ Version 0.8.2 (2021-XX-XX)
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* Use model points directly in MPC (no more polyfits), this makes lateral planning more accurate
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* Use model points directly in MPC (no more polyfits), this makes lateral planning more accurate
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* Use model heading prediction for smoother lateral control
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* Use model heading prediction for smoother lateral control
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* Smarter actuator delay compensation
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* Smarter actuator delay compensation
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* Adjust maximum engagement speed to better fit the model's training distribution
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* Audi A3 2015 support thanks to keeleysam!
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* Audi A3 2015 support thanks to keeleysam!
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* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
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* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
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* Toyota Camry Hybrid 2021 support thanks to alancyau!
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* Toyota Camry Hybrid 2021 support thanks to alancyau!
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@ -13,7 +13,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
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GearShifter = car.CarState.GearShifter
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GearShifter = car.CarState.GearShifter
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EventName = car.CarEvent.EventName
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EventName = car.CarEvent.EventName
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MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph
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MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
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# generic car and radar interfaces
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# generic car and radar interfaces
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@ -3,7 +3,7 @@ from selfdrive.config import Conversions as CV
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from cereal import car
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from cereal import car
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# kph
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# kph
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V_CRUISE_MAX = 144
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V_CRUISE_MAX = 135
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V_CRUISE_MIN = 8
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V_CRUISE_MIN = 8
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V_CRUISE_DELTA = 8
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V_CRUISE_DELTA = 8
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V_CRUISE_ENABLE_MIN = 40
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V_CRUISE_ENABLE_MIN = 40
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