Toyota: fix future aEgo calculation (#1562)

Update carcontroller.py
commaai · Dec 7, 2024 · cc30feb · cc30feb
1 parent a0b0b06
commit cc30feb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
@@ -226,7 +226,7 @@ def update(self, CC, CS, now_nanos):
         # wind down integral when approaching target for step changes and smooth ramps to reduce overshoot
         prev_aego = self.aego.x
         self.aego.update(a_ego_blended)
-        j_ego = (self.aego.x - prev_aego) / DT_CTRL
+        j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
         a_ego_future = a_ego_blended + j_ego * 0.5
 
         if actuators.longControlState == LongCtrlState.pid: