Toyota: new longitudinal tune improvements (#1554)

lower up accel rl and raise permit braking threshold

opendbc/car/toyota/carcontroller.py

@@ -20,7 +20,7 @@
 
 # The up limit allows the brakes/gas to unwind quickly leaving a stop,
 # the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
-ACCEL_WINDUP_LIMIT = 6.0 * DT_CTRL * 3  # m/s^2 / frame
+ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3  # m/s^2 / frame
 
 # LKA limits
@@ -289,9 +289,9 @@ def update(self, CC, CS, now_nanos):
         # Along with rate limiting positive jerk above, this greatly improves gas response time
         # Consider the net acceleration request that the PCM should be applying (pitch included)
         net_acceleration_request_min = min(actuators.accel + accel_due_to_pitch, net_acceleration_request)
-        if net_acceleration_request_min < 0.1 or stopping or not CC.longActive:
+        if net_acceleration_request_min < 0.2 or stopping or not CC.longActive:
           self.permit_braking = True
-        elif net_acceleration_request_min > 0.2:
+        elif net_acceleration_request_min > 0.3:
           self.permit_braking = False
 
         pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)