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final piece

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firestar5683
2026-05-18 11:10:24 -05:00
parent ed06aa8920
commit 3581a9ecf0
1 changed files with 8 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+8 -4
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@@ -783,7 +783,8 @@ class LongitudinalPlanner:
settle_brake = VISION_CLOSE_SETTLE_MIN_BRAKE + 0.10 * distance_factor + 0.04 * speed_factor
hold_brake = max(hold_brake, settle_brake)
hold_brake = float(np.clip(hold_brake, VISION_CLOSE_STOP_HOLD_MIN_BRAKE, VISION_CLOSE_STOP_HOLD_MAX_BRAKE))
return max(accel_min, -hold_brake)
brake_floor = -hold_brake
return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
def get_vision_close_release_hold_cap(self, lead, v_ego, accel_min, should_stop):
if should_stop or lead is None or not lead.status or bool(getattr(lead, "radar", False)):
@@ -824,7 +825,8 @@ class LongitudinalPlanner:
settle_brake = VISION_CLOSE_SETTLE_MIN_BRAKE + 0.08 * distance_factor + 0.02 * delta_factor
hold_brake = max(hold_brake, settle_brake)
hold_brake = float(np.clip(hold_brake, VISION_CLOSE_RELEASE_HOLD_MIN_BRAKE, VISION_CLOSE_RELEASE_HOLD_MAX_BRAKE))
return max(accel_min, -hold_brake)
brake_floor = -hold_brake
return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
def get_vision_close_settle_cap(self, lead, v_ego, accel_min, stop_guard_active):
if lead is None or not lead.status or bool(getattr(lead, "radar", False)):
@@ -853,7 +855,8 @@ class LongitudinalPlanner:
max(VISION_CLOSE_SETTLE_MAX_LEAD_DELTA, 0.1), 0.0, 1.0))
hold_brake = VISION_CLOSE_SETTLE_MIN_BRAKE + 0.10 * distance_factor + 0.04 * delta_factor
hold_brake = float(np.clip(hold_brake, VISION_CLOSE_SETTLE_MIN_BRAKE, VISION_CLOSE_SETTLE_MAX_BRAKE))
return max(accel_min, -hold_brake)
brake_floor = -hold_brake
return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
def get_vision_close_final_guard_cap(self, lead, v_ego, accel_min):
if lead is None or not lead.status or bool(getattr(lead, "radar", False)):
@@ -873,7 +876,8 @@ class LongitudinalPlanner:
max(VISION_CLOSE_FINAL_GUARD_MAX_DISTANCE - 2.8, 0.1), 0.0, 1.0))
hold_brake = VISION_CLOSE_FINAL_GUARD_MIN_BRAKE + 0.10 * distance_factor
hold_brake = float(np.clip(hold_brake, VISION_CLOSE_FINAL_GUARD_MIN_BRAKE, VISION_CLOSE_FINAL_GUARD_MAX_BRAKE))
return max(accel_min, -hold_brake)
brake_floor = -hold_brake
return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
def _update_manual_stop_resume_override(self, sm):
now_t = time.monotonic()