From 267c2bb2cedfea22f30a757b8933c19bdd15b857 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 11 Nov 2026 14:16:09 -0600
Subject: [PATCH] Keep unconfirmed stop forecasts current until explicit stop
 intent

---
 .../longitudinal/force_stop_runtime.py        |  3 +-
 .../tests/test_force_stop_runtime.py          | 39 +++++++++++++++++++
 prebuilt.json                                 |  2 +-
 3 files changed, 42 insertions(+), 2 deletions(-)

diff --git a/openpilot/starpilot/longitudinal/force_stop_runtime.py b/openpilot/starpilot/longitudinal/force_stop_runtime.py
index ef27628ff5..1abffc3a0e 100644
--- a/openpilot/starpilot/longitudinal/force_stop_runtime.py
+++ b/openpilot/starpilot/longitudinal/force_stop_runtime.py
@@ -194,6 +194,7 @@ class ForceStopRuntime:
         self.vision_ranged_ns = vision_sign
         vision_distance = self.vision_stop.distance_m - float(car.vEgo) * (stamp - vision_sign) / 1e9
       dashboard_sign = dashboard_stop_sign(sm, now_ns=now_ns, drive_id=drive_id)
+      # A stationary forecast tail alone does not identify a fixed stop line.
       frame = StopFrame(stamp, float(car.vEgo), horizon, light_context, horizon is not None and horizon < 50,
                         bool(model.action.shouldStop), bool(car.standstill), True, bool(car.gasPressed),
                         tracked is not None and tracked.tracked is True, bool(lead.present), float(lead.dRel), float(lead.vLead),
@@ -203,7 +204,7 @@ class ForceStopRuntime:
                         dashboard_sign=dashboard_sign, vision_distance_m=vision_distance,
                         moving_preview=bool(perception_available and not model.action.shouldStop and
                                             len(model.velocity.x) == len(model.position.x) and
-                                            math.isfinite(model.velocity.x[-1]) and model.velocity.x[-1] > .3))
+                                            math.isfinite(model.velocity.x[-1])))
       tune = replace(vehicle_tune(str(cp.carFingerprint)), distance_control=distance_braking_eligible(cp))
       self.plan = self.policy.step(frame, tune, self.offset)
       if takeoff_enabled:
diff --git a/openpilot/starpilot/longitudinal/tests/test_force_stop_runtime.py b/openpilot/starpilot/longitudinal/tests/test_force_stop_runtime.py
index 529da2dd8b..75d8db7e56 100644
--- a/openpilot/starpilot/longitudinal/tests/test_force_stop_runtime.py
+++ b/openpilot/starpilot/longitudinal/tests/test_force_stop_runtime.py
@@ -62,6 +62,45 @@ class ForceStopRuntimeTests(unittest.TestCase):
     self.assertTrue(output.forcing)
     return output
 
+  def test_unconfirmed_stationary_forecast_tail_keeps_preview_tracking(self):
+    from unittest.mock import patch
+    from openpilot.starpilot.longitudinal.tests.test_ioniq6_start import candidate
+    _, self.cp = candidate()
+    for tail in (0., .1, .3):
+      with self.subTest(tail=tail):
+        self.owner = ForceStopRuntime(self.params)
+        self.sample(Frame(0))
+        sm = Frame(1)
+        sm['modelV2'].velocity.x = [10.] * 32 + [tail]
+        sm['modelV2'].action.shouldStop = False
+        with patch.object(self.owner.policy, 'step', wraps=self.owner.policy.step) as step:
+          self.sample(sm)
+        self.assertTrue(step.called)
+        self.assertTrue(step.call_args.args[0].moving_preview)
+
+  def test_explicit_model_stop_still_freezes_the_target(self):
+    from openpilot.starpilot.longitudinal.tests.test_ioniq6_start import candidate
+    _, self.cp = candidate()
+    for tick in range(40):
+      self.sample(Frame(tick))
+    sm = Frame(40, horizon=30.)
+    sm['modelV2'].velocity.x = [10.] * 32 + [0.]
+    sm['modelV2'].action.shouldStop = True
+    before = self.sample(sm)
+    self.assertFalse(self.owner.policy.preview_tracking)
+    after = self.sample(Frame(41, horizon=70.))
+    self.assertLess(after.tracked_distance_m, before.tracked_distance_m)
+
+  def test_invalid_forecast_still_uses_odometry_without_extending(self):
+    from openpilot.starpilot.longitudinal.tests.test_ioniq6_start import candidate
+    _, self.cp = candidate()
+    for tick in range(40):
+      before = self.sample(Frame(tick))
+    sm = Frame(40, horizon=70.)
+    sm['modelV2'].velocity.x = [10.] * 32 + [-.1]
+    after = self.sample(sm)
+    self.assertAlmostEqual(after.tracked_distance_m, before.tracked_distance_m - .5)
+
   def test_vision_expiry_gap_preserves_confirmation_but_not_control_authority(self):
     from unittest.mock import patch
     from openpilot.starpilot.speed_limits.vision.tests.test_stop_observation import evidence, message
diff --git a/prebuilt.json b/prebuilt.json
index 0675542920..2f7b0eab6f 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "00fcb8440a365c107104fea6a9518c9d933cf3d71ba04e1a44eeed26e284f3ec", "schema_version": 1}
+{"protected_inventory_sha256": "91f72124e5226a7fe335f8a4f3d46b2443d41f058cdcc4881e52307669e603cb", "schema_version": 1}