From 0538b6ef8c36b8104bf77c399eacb112ccc71eb6 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 22 Oct 2025 16:34:05 -0500 Subject: [PATCH] Revert "Update longitudinal_planner.py" This reverts commit f81ebc40ef1c48ad533a083c35ec10890200efa3. --- .../controls/lib/longitudinal_planner.py | 26 ------------------- 1 file changed, 26 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 78266927d..0df315da7 100644 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -446,32 +446,6 @@ class LongitudinalPlanner: if now_t < self.accel_nudge_until and self.a_desired > -0.1: self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego))) - # --- Gap clamp (minimize rubber-banding when we drift too far behind) --- - # If we are following a valid lead and our actual gap exceeds the desired by +0.2s, - # add a small accel bias to gently close the gap. This only applies when we're not braking. - if self.lead_one.status and v_ego > 1.0 and self.a_desired > -0.1: - # Desired headway from current setting - t_follow_goal = float(sm['frogpilotPlan'].tFollow) - desired_gap_m = t_follow_goal * v_ego - # Use filtered lead distance if available - actual_gap_m = float(self.lead_dist_f if self.lead_dist_f is not None else self.lead_one.dRel) - # Allow +0.2s slack before biasing acceleration - slack_m = 0.2 * v_ego - gap_err_m = actual_gap_m - (desired_gap_m + slack_m) - - if gap_err_m > 0.0: - # Convert extra meters into a small accel bias. - # k_gap chosen conservatively to avoid dramatic behavior. - k_gap = 0.005 # (m/s^2) per meter of extra gap - accel_bias = k_gap * gap_err_m - # Cap the bias tightly so it only trims long gaps, not cause surging - accel_bias = float(clip(accel_bias, 0.0, 0.18)) - self.a_desired = float(min(self.a_desired + accel_bias, get_max_accel(v_ego))) - try: - cloudlog.error(f"LON_GAPCLAMP; v_ego={v_ego:.2f}; desired_gap={desired_gap_m:.2f}; actual_gap={actual_gap_m:.2f}; bias={accel_bias:.3f}") - except Exception: - pass - # Small deadzone around zero accel to kill micro-dithers if -0.05 < self.a_desired < 0.05: self.a_desired = 0.0