From 0ab17de780c8a0a8edf84bb1faead786ca049751 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Wed, 29 Jul 2026 07:43:10 -0500 Subject: [PATCH] Force Stop tweak2: a_far --- starpilot/controls/lib/starpilot_vcruise.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py index 88bf9c2ab..7dd483b16 100644 --- a/starpilot/controls/lib/starpilot_vcruise.py +++ b/starpilot/controls/lib/starpilot_vcruise.py @@ -45,7 +45,11 @@ ACTIVATION_HYSTERESIS_M = 8.0 # m — release margin; absorbs model_length jitt LEAD_VETO_M = 75.0 # m — lead proximity that vetoes Force Stop (not ACTIVATION_M, # so raising activation can't silently widen the veto) MPC_HANDOFF_M = 6.0 # m — below this, command 0 and let MPC finish the stop -FORCE_STOP_APPROACH_DECEL = 1.2 # m/s^2 — speed ceiling before commit; riding it decelerates at this rate +FORCE_STOP_APPROACH_DECEL = 0.9 # m/s^2 — speed ceiling before commit. LOWER = slower ceiling + # = more early braking. Must stay above FORCE_STOP_MODEL_APPROACH_DECEL + # or the pre-commit ceiling is stricter than the stop itself. + # 1.2 road-tested too loose: only asked a 50 mph car to shed 1.7 mph + # by 200 m, and the car delivers ~50-75% of the commanded decel. ADAS_MAX_MS = 17.88 # 40 mph — cross-street ADAS guard DASH_SEED_M = 27.0 # ~88 ft — typical ADAS detection distance, used to snap # tracked length closer when dashboard confirms a sign