Preserve stock ASCM Volt lateral intent below cruise speed

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -1575,7 +1575,7 @@ class SelfdriveD:
 
 
   def _decide_aol_axes(self, CS, intent, native, *, now_ns=0, ordinary_lag=False):
-    from openpilot.starpilot.car.gm.aol import physical_cancel_lateral_allowed
+    from openpilot.starpilot.car.gm.aol import physical_cancel_lateral_allowed, stock_ascm_independent_lateral
     from openpilot.starpilot.car.hyundai.aol import physical_cancel_lateral_allowed as hkg_cancel_lateral_allowed
     from openpilot.starpilot.aol.dm import lateral_event_context
     retained_dm_lateral, lateral_events = lateral_event_context(self, CS, intent, native, now_ns, ordinary_lag)
@@ -1598,7 +1598,8 @@ class SelfdriveD:
                                source_ns=getattr(self, 'aol_car_state_log_ns', 0), now_ns=now_ns,
                                axis_session_id=getattr(self, 'aol_session_id', '')),
                            cruise_main_required=getattr(self, 'aol_cruise_main_required', True),
-                           allow_below_engage_speed=bool(is_volt_ascm_longitudinal(self.CP) and
+                           allow_below_engage_speed=bool((is_volt_ascm_longitudinal(self.CP) or
+                                                        stock_ascm_independent_lateral(self.CP)) and
                                                        not self.CP.flags & GMFlags.PEDAL_LONG)),
       immediate_disable=self.events.contains(ET.IMMEDIATE_DISABLE),
       dm_lockout=bool(not self.sm.all_checks(['driverMonitoringState']) or

openpilot/starpilot/aol/tests/test_gm_ascm_stock_low_speed.py

@@ -0,0 +1,42 @@
+"""Recorded route206ae7ed9f: ordinary ACC minimum must not revoke AOL."""
+from contextlib import ExitStack
+import pytest
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.starpilot.aol.tests import test_ioniq_availability as fixture
+from openpilot.starpilot.aol.tests.test_input_deadline_continuity import BASE, intent
+from openpilot.starpilot.aol.intent import read_settings
+from opendbc.car.gm.tests.test_bolt_volt_configurations import ordinary_params
+from opendbc.car.gm.values import CAR
+from openpilot.cereal import log
+
+
+@pytest.mark.parametrize("c9", [False, True])
+@pytest.mark.parametrize("native_granted", [False, True])
+def test_ascm_stock_cruise_minimum_cannot_revoke_independent_main_intent(c9, native_granted):
+  cp = ordinary_params(CAR.CHEVROLET_VOLT_ASCM, alpha=False, sascm=True, accelerator=not c9, radar=False)
+  assert cp.pcmCruise and not cp.openpilotLongitudinalControl
+  assert cp.safetyConfigs[0].safetyParam == (0x605 if c9 else 0x205)
+  case = fixture.IoniqAvailabilityTests(methodName="runTest")
+  with OpenpilotPrefix(), ExitStack() as cleanup:
+    cleanup.callback(case.doCleanups)
+    sd, _, step = case._authority_callers(False, cp=cp, genuine_events=True)
+    sd.aol_settings = read_settings(sd.params)
+    cs = fixture.car_state()
+    cs.vEgo = 4.
+    axis, _, cc = step(2, observed_state=cs, state_stamp=BASE, intent_message=intent(BASE, 3), native_request_long=False)
+    assert axis.lateralActive and cc.latActive
+    cs = fixture.car_state(brake=True)
+    cs.vEgo = 1.3862173557281494  # Recorded ASCM source at57.081039046s.
+    cs.gearShifter = "low"
+    stamp = BASE + 10_000_000
+    axis, _, cc = step(3, observed_state=cs, state_stamp=stamp, intent_message=intent(stamp, 4), native_request_long=False, allowed=native_granted)
+    assert log.OnroadEvent.EventName.belowEngageSpeed in sd.events.names
+    assert not sd.enabled and not cc.longActive
+    assert axis.desiredLateral, (axis.to_dict(), sd.events.names)
+    assert bool(axis.lateralActive) == native_granted
+    assert not cc.latActive  # Existing minSteerSpeed still vetoes actual steering.
+    cs = fixture.car_state()
+    cs.vEgo = 4.
+    stamp += 10_000_000
+    axis, _, cc = step(4, observed_state=cs, state_stamp=stamp, intent_message=intent(stamp, 5), native_request_long=False)
+    assert axis.lateralActive and cc.latActive and not cc.longActive

openpilot/starpilot/car/gm/aol.py

@@ -4,7 +4,7 @@ import math
 from opendbc.car.gm.cancel_remap import aol_enabled, enabled as cancel_remap_enabled, supported as cancel_remap_supported
 
 from opendbc.car.structs import CarParams
-from opendbc.car.gm.values import CAR, control_flags, camera_acc_pedal_profile, is_volt_ascm_longitudinal
+from opendbc.car.gm.values import CAR, GMFlags, control_flags, camera_acc_pedal_profile, is_volt_ascm_longitudinal
 from opendbc.car.gm.aol import GM_AOL_ALTERNATIVE_EXPERIENCE, GM_AOL_WORDS, qualified_gm
 from openpilot.starpilot.aol.policy import AolVehiclePolicy
 from openpilot.starpilot.aol.intent import AOL_TOGGLE, AolCardIntent
@@ -28,6 +28,13 @@ def native_accepts_cp(cp, model: int, param: int) -> bool:
           native_profile_supported(model, param))
 
 
+def stock_ascm_independent_lateral(cp) -> bool:
+  """Stock cruise's engagement speed does not cancel independent lateral intent."""
+  return bool(qualified_gm(cp) and cp.carFingerprint == CAR.CHEVROLET_VOLT_ASCM and
+              cp.pcmCruise and not cp.openpilotLongitudinalControl and
+              not cp.flags & GMFlags.PEDAL_LONG)
+
+
 class GmAolCardIntent(AolCardIntent):
   """Main-following intent with explicit main-cycle recovery after fatal faults."""
 

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "226a3f00d9020c539ae74d575cbc3fb3525405d370335ae84327401130bce1b7", "schema_version": 1}
+{"protected_inventory_sha256": "783aebd8a8d1be8235fc486528f0d5575a5ce9486520c7dbea7f1aff0cdd59aa", "schema_version": 1}