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firestar5683
2026-05-13 13:51:25 -05:00
parent 3ecb73dc8a
commit 01bcb40c50
7 changed files with 163 additions and 8 deletions
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starpilot/controls/lib/conditional_experimental_mode.py
+6 -1
View File
@@ -239,7 +239,12 @@ class ConditionalExperimentalMode:
return
slower_lead = starpilot_toggles.conditional_slower_lead and self.starpilot_planner.starpilot_following.slower_lead
stopped_lead = starpilot_toggles.conditional_stopped_lead and lead_speed < 1
stopped_lead = bool(
starpilot_toggles.conditional_stopped_lead and
lead_status and
lead_speed < 1 and
lead_distance < max(40.0, v_ego * self.SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME)
)
vision_slow_lead_candidate = bool(
lead_status and
lead_prob >= self.SLOW_LEAD_CONTINUITY_MIN_MODEL_PROB and
starpilot/controls/lib/starpilot_vcruise.py
+5
View File
@@ -103,10 +103,15 @@ class StarPilotVCruise:
if dash_path:
self.stop_sign_confirmed = True
raw_model_stopped = bool(getattr(self.starpilot_planner, "raw_model_stopped", False))
# Timer ramp. Faster commitment when the dashboard confirms.
if force_stop_active and not sm["carState"].standstill:
rate = DT_MDL * 2 if dash_active else DT_MDL
self.force_stop_timer = min(self.force_stop_timer + rate, 2.0)
elif (self.forcing_stop and sm["carState"].standstill and not dash_active and
not self.starpilot_planner.starpilot_cem.stop_light_detected and not raw_model_stopped):
self.force_stop_timer = 0.0
else:
self.force_stop_timer = max(self.force_stop_timer - DT_MDL * 0.25, 0.0)
starpilot/controls/starpilot_planner.py
+3 -2
View File
@@ -56,6 +56,7 @@ class StarPilotPlanner:
self.gps_valid = False
self.lateral_check = False
self.model_stopped = False
self.raw_model_stopped = False
self.road_curvature_detected = False
self.tracking_lead = False
self._prev_gps_bearing = 0
@@ -129,8 +130,8 @@ class StarPilotPlanner:
self.model_length = sm["modelV2"].position.x[-1]
self.model_stopped = self.model_length < CRUISING_SPEED * PLANNER_TIME
self.model_stopped |= self.starpilot_vcruise.forcing_stop
self.raw_model_stopped = self.model_length < CRUISING_SPEED * PLANNER_TIME
self.model_stopped = self.raw_model_stopped or self.starpilot_vcruise.forcing_stop
self.road_curvature, self.time_to_curve = calculate_road_curvature(sm["modelV2"], v_ego)