From e9100341fc586f84f559f35b74650e2625377b54 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 25 Mar 2026 15:55:22 -0500 Subject: [PATCH] a target limiter --- selfdrive/controls/lib/longitudinal_planner.py | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 301005ee7..309c4a999 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -112,7 +112,6 @@ class LongitudinalPlanner: self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 - self.prev_accel_clip = [ACCEL_MIN, ACCEL_MAX] self.output_a_target = 0.0 self.output_should_stop = False @@ -357,9 +356,7 @@ class LongitudinalPlanner: dec_mpc_mode = self.get_mpc_mode() if not self.mlsim: self.mpc.mode = dec_mpc_mode - tracking_lead = sm['frogpilotPlan'].desiredFollowDistance > 0 - if hasattr(sm['frogpilotPlan'], 'trackingLead'): - tracking_lead = tracking_lead or bool(sm['frogpilotPlan'].trackingLead) + tracking_lead = bool(sm['frogpilotPlan'].trackingLead) self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, sm['frogpilotPlan'].dangerFactor, sm['frogpilotPlan'].tFollow, personality=sm['selfdriveState'].personality, tracking_lead=tracking_lead) @@ -417,10 +414,7 @@ class LongitudinalPlanner: output_a_target = min(output_a_target_mpc, output_a_target_e2e) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc - for idx in range(2): - accel_limits_turns[idx] = np.clip(accel_limits_turns[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05) - self.output_a_target = np.clip(output_a_target, accel_limits_turns[0], accel_limits_turns[1]) - self.prev_accel_clip = accel_limits_turns + self.output_a_target = float(output_a_target) def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan')