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6m buffer is needed

stop-lines
Harald Schafer 2021-09-27 23:03:24 -07:00 committed by mitchellgoffpc
parent fe8e872cf6
commit cffe4cf821
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -304,7 +304,7 @@ class LongitudinalMpc():
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
if stopping:
stop_line_obstacle = model.stopLine.x * np.ones(N+1)
stop_line_obstacle = (model.stopLine.x + 6.0) * np.ones(N+1)
else:
stop_line_obstacle = 400 * np.ones(N+1)