update parameters

NEUAutonomousDriving408 · Oct 8, 2021 · 05cf7db · 05cf7db
1 parent 3c0cfb4
commit 05cf7db
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/initial/initial.py b/initial/initial.py
@@ -31,7 +31,7 @@ def __init__(self):
         self.positionnow = 0        # 两车道线A1求和
         self.changing = False       # 处于超车状态时为True
         # self.saftydistance = 11     # (最大时速50)与前车的安全距离 对于紧密跟车的情况 要准确识别并控速
-        self.saftydistance = 16     # 与前车的安全距离 对于紧密跟车的情况 要准确识别并控速
+        self.saftydistance = 18     # 与前车的安全距离 对于紧密跟车的情况 要准确识别并控速
         self.direction = 'mid'      # 当前行驶方向
         self.lanefuture = 2.0
 
@@ -43,11 +43,11 @@ def __init__(self):
 class ControlData(object):
     def __init__(self):
 
-        self.speeduplimit = 80
+        self.speeduplimit = 85
         self.superspeeduplimit = 101    # super speedup control speed
-        self.superspeeduplimittime = 60 # super speedup time threshold
+        self.superspeeduplimittime = 45 # super speedup time threshold
         self.followlimit = 40
-        self.overtakelimit = 70         # overtake control speed 
+        self.overtakelimit = 72         # overtake control speed 
 
         self.lat_kp = 2.10
         self.lat_ki = 0.07

diff --git a/main.py b/main.py
@@ -53,6 +53,7 @@
 
         while True:
             distanceprocessing.run(distanceData, previous_distance, current_distance, MyCar)
+
 
             # print("current : ", distanceData.distance_mid, "left : ", distanceData.distance_left, "right : ", distanceData.distance_right)
             # print("position : ", MyCar.positionnow)