Don't Brake Check

selfdrive/controls/lib/longitudinal_planner.py

@@ -472,7 +472,8 @@ def should_publish_planner_fcw(crash_cnt: int, car_state, radar_state) -> bool:
 
 def get_vehicle_min_accel(CP, v_ego):
   # Planner-side physical decel capability estimate for GM pedal-long paths.
-  if getattr(CP, "carName", "") == "gm" and getattr(CP, "enableGasInterceptorDEPRECATED", False):
+  is_gm = getattr(CP, "carName", "") == "gm" or getattr(CP, "brand", "") == "gm"
+  if is_gm and getattr(CP, "enableGasInterceptorDEPRECATED", False):
     try:
       from opendbc.car.gm.values import GMFlags, CAR
       if bool(CP.flags & GMFlags.PEDAL_LONG.value):

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -9,6 +9,7 @@ import pytest
 from cereal import log
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.values import CAR
+from opendbc.car.gm.values import CAR as GM_CAR, GMFlags
 import openpilot.selfdrive.controls.lib.longitudinal_planner as longitudinal_planner_module
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
@@ -146,6 +147,18 @@ def test_experimental_mlsim_uses_vehicle_min_accel_floor(model_version):
   assert planner.output_a_target < comfort_min_accel
 
 
+def test_gm_pedal_vehicle_min_accel_uses_brand_when_car_name_is_missing():
+  CP = SimpleNamespace(
+    carName=None,
+    brand="gm",
+    enableGasInterceptorDEPRECATED=True,
+    flags=GMFlags.PEDAL_LONG.value,
+    carFingerprint=GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  )
+
+  assert get_vehicle_min_accel(CP, 32.4) == pytest.approx(-2.95)
+
+
 @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
 def test_acc_mode_uses_close_raw_lead_when_tracking_lead_is_debounced(model_version):
   v_ego = 5.0