From 2e7036ab076b67d07df05b3cd4c28fe4db085249 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 6 May 2026 16:18:18 -0500
Subject: [PATCH] cem

---
 .../test_conditional_experimental_mode.py     | 29 ++++++++++++++
 .../lib/conditional_experimental_mode.py      | 39 ++++++++++++-------
 2 files changed, 55 insertions(+), 13 deletions(-)

diff --git a/selfdrive/controls/tests/test_conditional_experimental_mode.py b/selfdrive/controls/tests/test_conditional_experimental_mode.py
index e03354f36..7b94e4ee2 100644
--- a/selfdrive/controls/tests/test_conditional_experimental_mode.py
+++ b/selfdrive/controls/tests/test_conditional_experimental_mode.py
@@ -544,6 +544,35 @@ def test_pace_matched_lead_clears_slow_lead_quickly():
   assert not cem.slow_lead_detected
 
 
+def test_tracked_stale_slow_lead_clears_after_short_timeout(monkeypatch):
+  v_ego = 65 * CV.MPH_TO_MS
+  cem = make_cem(
+    model_length=v_ego * 5.0,
+    tracking_lead=True,
+    lead_status=True,
+    lead_d_rel=55.0,
+    lead_v_lead=v_ego - 0.8,
+    lead_model_prob=0.98,
+  )
+  toggles = SimpleNamespace(conditional_slower_lead=True, conditional_stopped_lead=False)
+
+  cem.slow_lead_filter.x = 1.0
+  cem.slow_lead_detected = True
+  cem.starpilot_planner.starpilot_following.slower_lead = False
+
+  monotonic_values = iter([50.0, 50.3, 50.9])
+  monkeypatch.setattr(conditional_experimental_mode_module.time, "monotonic", lambda: next(monotonic_values))
+
+  cem.slow_lead(toggles, v_ego)
+  assert cem.slow_lead_detected
+
+  cem.slow_lead(toggles, v_ego)
+  assert cem.slow_lead_detected
+
+  cem.slow_lead(toggles, v_ego)
+  assert not cem.slow_lead_detected
+
+
 class DummyThemeManager:
   def update_wheel_image(self, *args, **kwargs):
     pass
diff --git a/starpilot/controls/lib/conditional_experimental_mode.py b/starpilot/controls/lib/conditional_experimental_mode.py
index a512a5ab3..8feb1ecf9 100644
--- a/starpilot/controls/lib/conditional_experimental_mode.py
+++ b/starpilot/controls/lib/conditional_experimental_mode.py
@@ -53,6 +53,7 @@ class ConditionalExperimentalMode:
   SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME = 4.0
   SLOW_LEAD_CONTINUITY_MIN_EGO = 2.5
   SLOW_LEAD_CONTINUITY_HOLD_TIME = 1.25
+  SLOW_LEAD_FORCE_CLEAR_TIME = 0.75
   SLOW_LEAD_MIN_CLOSING_SPEED = 0.75
   SLOW_LEAD_CLEAR_FASTER_FACTOR = 0.5
 
@@ -88,6 +89,7 @@ class ConditionalExperimentalMode:
     self.curve_detected = False
     self.slow_lead_detected = False
     self.prev_tracking_lead = bool(getattr(self.starpilot_planner, "tracking_lead", False))
+    self.slow_lead_clear_since = 0.0
     self.slow_lead_continuity_until = 0.0
     self.experimental_mode = False
     self.stop_light_detected = False
@@ -224,10 +226,7 @@ class ConditionalExperimentalMode:
     min_closing_speed = max(self.SLOW_LEAD_MIN_CLOSING_SPEED, 0.04 * v_ego)
 
     if not starpilot_toggles.conditional_stopped_lead and v_ego < self.SLOW_LEAD_CONTINUITY_MIN_EGO:
-      self.slow_lead_filter.update(False)
-      self.slow_lead_detected = False
-      self.slow_lead_continuity_until = 0.0
-      self.prev_tracking_lead = tracking_lead
+      self.clear_slow_lead_state(tracking_lead)
       return
 
     slower_lead = starpilot_toggles.conditional_slower_lead and self.starpilot_planner.starpilot_following.slower_lead
@@ -244,10 +243,7 @@ class ConditionalExperimentalMode:
     adjusted_threshold = lead_threshold * (1.0 + 0.2 * (1.0 - lead_prob))  # Higher threshold for lower confidence
 
     if lead_status and not slower_lead and not stopped_lead and closing_speed < (min_closing_speed * self.SLOW_LEAD_CLEAR_FASTER_FACTOR):
-      self.slow_lead_filter.update(False)
-      self.slow_lead_detected = False
-      self.slow_lead_continuity_until = 0.0
-      self.prev_tracking_lead = tracking_lead
+      self.clear_slow_lead_state(tracking_lead)
       return
 
     if tracking_lead and (slower_lead or stopped_lead or vision_slow_lead_candidate):
@@ -262,13 +258,30 @@ class ConditionalExperimentalMode:
       vision_slow_lead_candidate
     )
 
-    if tracking_lead or raw_vision_slow_lead or stopped_lead:
-      self.slow_lead_filter.update(slower_lead or raw_vision_slow_lead or stopped_lead)
+    slow_lead_active = bool(slower_lead or raw_vision_slow_lead or stopped_lead)
+    if slow_lead_active:
+      self.slow_lead_clear_since = 0.0
+      self.slow_lead_filter.update(True)
       self.slow_lead_detected = bool(self.slow_lead_filter.x >= adjusted_threshold)
-    else:
-      self.slow_lead_filter.update(False)
-      self.slow_lead_detected = False
+    elif tracking_lead:
+      if self.slow_lead_clear_since == 0.0:
+        self.slow_lead_clear_since = now
 
+      if (now - self.slow_lead_clear_since) >= self.SLOW_LEAD_FORCE_CLEAR_TIME:
+        self.clear_slow_lead_state(tracking_lead)
+      else:
+        self.slow_lead_filter.update(False)
+        self.slow_lead_detected = bool(self.slow_lead_filter.x >= adjusted_threshold)
+    else:
+      self.clear_slow_lead_state(tracking_lead)
+
+    self.prev_tracking_lead = tracking_lead
+
+  def clear_slow_lead_state(self, tracking_lead):
+    self.slow_lead_filter.update(False)
+    self.slow_lead_detected = False
+    self.slow_lead_clear_since = 0.0
+    self.slow_lead_continuity_until = 0.0
     self.prev_tracking_lead = tracking_lead
 
   def stop_sign_and_light(self, v_ego, sm, model_time):