ramp up traffic mod from 45 to 60 mph. 45 mph being the min speed for it to have any effect

Author: sshane

selfdrive/controls/lib/long_mpc.py

@@ -98,7 +98,11 @@ def get_traffic_level(self):  # based on fluctuation of v_lead
     lead_vel_diffs = [abs(vel - lead_vels[idx - 1]) for idx, vel in enumerate(lead_vels) if idx != 0]
     x = [0.0, 0.21, 0.466, 0.722, 0.856, 0.96, 1.0]  # 1 is estimated to be heavy traffic
     y = [1.2, 1.19, 1.17, 1.13, 1.09, 1.04, 1.0]
-    return interp(sum(lead_vel_diffs)/len(lead_vel_diffs), x, y)
+    traffic_mod = interp(sum(lead_vel_diffs)/len(lead_vel_diffs), x, y)
+    x = [20.1168, 24.5872]  # min speed is 45mph for traffic level mod
+    y = [0.2, 0.0]
+    traffic_mod = max(traffic_mod - interp(self.v_ego, x, y), 1.0)
+    return traffic_mod
 
   def smooth_follow(self):  # in m/s
     x_vel = [0.0, 4.8, 9.0, 11.3, 13.6, 17.1, 23.1, 29.5, 35.1, 39.8, 42.2]  # velocities