volt and old ioniq and new ioniq and honda

2026-07-23 18:22:13 +08:00 · 2026-05-15 18:34:50 -05:00
parent 473e3efae9
commit 45a1d3fa8e
5 changed files with 112 additions and 28 deletions
@@ -66,16 +66,16 @@ CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_LEFT = 0.02
 CIVIC_BOSCH_MODIFIED_B_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
 CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_LEFT = 0.26
 CIVIC_BOSCH_MODIFIED_B_UNWIND_FRICTION_REDUCTION_RIGHT = 0.40
-CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_LEFT = -0.06
-CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_RIGHT = -0.02
-CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_LEFT = -0.02
-CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_RIGHT = 0.00
-CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_LEFT = 0.16
-CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_RIGHT = 0.10
-CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = -0.01
-CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
-CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.08
+CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_LEFT = -0.10
+CIVIC_BOSCH_MODIFIED_A_VARIANT_FF_RESTORE_RIGHT = 0.02
+CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_LEFT = -0.05
+CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_BOOST_RIGHT = 0.02
+CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_LEFT = 0.24
+CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_TAPER_RIGHT = 0.06
+CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_LEFT = -0.02
+CIVIC_BOSCH_MODIFIED_A_VARIANT_TURN_IN_FRICTION_BOOST_RIGHT = 0.01
+CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
+CIVIC_BOSCH_MODIFIED_A_VARIANT_UNWIND_FRICTION_REDUCTION_RIGHT = 0.05
 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_MAX = 0.12
 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT = 0.24
 CIVIC_BOSCH_MODIFIED_A_VARIANT_CENTER_TAPER_LAT_WIDTH = 0.05
@@ -308,23 +308,23 @@ IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
 IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.15
 IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26

-IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
-IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.08
-IONIQ_EV_OLD_FF_REDUCTION_RIGHT = 0.16
+IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.12
+IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.12
+IONIQ_EV_OLD_FF_REDUCTION_RIGHT = 0.24
 IONIQ_EV_OLD_FF_ONSET = 0.14
 IONIQ_EV_OLD_FF_ONSET_WIDTH = 0.05
 IONIQ_EV_OLD_FF_CUTOFF = 1.10
 IONIQ_EV_OLD_FF_CUTOFF_WIDTH = 0.30
 IONIQ_EV_OLD_TRANSITION_SPEED = 10.0
 IONIQ_EV_OLD_PHASE_SCALE = 0.10
-IONIQ_EV_OLD_TURN_IN_BOOST_LEFT = 0.06
+IONIQ_EV_OLD_TURN_IN_BOOST_LEFT = 0.03
 IONIQ_EV_OLD_TURN_IN_BOOST_RIGHT = 0.00
-IONIQ_EV_OLD_UNWIND_TAPER_LEFT = 0.18
-IONIQ_EV_OLD_UNWIND_TAPER_RIGHT = 0.08
-IONIQ_EV_OLD_CENTER_TAPER_MAX = 0.10
-IONIQ_EV_OLD_CENTER_TAPER_LAT = 0.14
+IONIQ_EV_OLD_UNWIND_TAPER_LEFT = 0.26
+IONIQ_EV_OLD_UNWIND_TAPER_RIGHT = 0.06
+IONIQ_EV_OLD_CENTER_TAPER_MAX = 0.14
+IONIQ_EV_OLD_CENTER_TAPER_LAT = 0.12
 IONIQ_EV_OLD_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_EV_OLD_CENTER_TAPER_SPEED = 24.0
+IONIQ_EV_OLD_CENTER_TAPER_SPEED = 22.0
 IONIQ_EV_OLD_CENTER_TAPER_SPEED_WIDTH = 2.2

 IONIQ_6_FF_GAIN_LEFT = 0.045
@@ -357,10 +357,10 @@ IONIQ_6_CENTER_TAPER_LAT = 0.24
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.030
-IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.10
+IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.034
+IONIQ_6_HIGHWAY_CENTER_TAPER_LAT = 0.09
 IONIQ_6_HIGHWAY_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 26.0
+IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5
 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
 IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.088
 IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.28
@@ -139,6 +139,7 @@ VISION_CLOSE_STOP_HOLD_MAX_BRAKE = 0.28
 MANUAL_STOP_RESUME_OVERRIDE_TIME = 3.0
 MANUAL_STOP_RESUME_OVERRIDE_MAX_SPEED = 2.0
 MANUAL_STOP_RESUME_OVERRIDE_MIN_ACCEL = 0.2
+FORCE_STOP_HANDOFF_MAX_VCRUISE = 0.5
 LEAD_CATCHUP_ACCEL_MIN_EGO = 8.0
 LEAD_CATCHUP_ACCEL_MIN_LEAD_DELTA = -0.5
 LEAD_CATCHUP_ACCEL_MAX_GAP_BUFFER_MIN = 4.0
@@ -1687,6 +1688,18 @@ class LongitudinalPlanner:
    output_accel_max = no_throttle_output_max if not self.allow_throttle else accel_limits_turns[1]
    output_a_target = float(np.clip(output_a_target, output_accel_min, output_accel_max))

+    force_stop_handoff = bool(
+      getattr(sm['starpilotPlan'], 'forcingStop', False) and
+      not lead_control_active and
+      (
+        float(getattr(sm['starpilotPlan'], 'forcingStopLength', float('inf'))) < 1.0 or
+        float(getattr(sm['starpilotPlan'], 'vCruise', float('inf'))) <= FORCE_STOP_HANDOFF_MAX_VCRUISE
+      )
+    )
+
+    if force_stop_handoff:
+      output_should_stop = True
+
    manual_stop_resume_override = self._update_manual_stop_resume_override(sm)
    if manual_stop_resume_override:
      output_a_target = max(output_a_target, MANUAL_STOP_RESUME_OVERRIDE_MIN_ACCEL)
@@ -1717,7 +1730,7 @@ class LongitudinalPlanner:
    force_stop_handoff = bool(
      sm['starpilotPlan'].forcingStop and (
        sm['starpilotPlan'].forcingStopLength < 1.0 or
-        sm['starpilotPlan'].vCruise <= 0.0
+        sm['starpilotPlan'].vCruise <= FORCE_STOP_HANDOFF_MAX_VCRUISE
      )
    )
    longitudinalPlan.shouldStop = bool(self.output_should_stop) or force_stop_handoff
@@ -604,14 +604,14 @@ class TestLatControl:
    a_variant_unwind_right_friction = get_civic_bosch_modified_b_friction_scale(12.0, -0.5, 0.8)

    assert a_variant_steady_left < base_steady_left
-    assert a_variant_steady_right < base_steady_right
+    assert a_variant_steady_right > base_steady_right
    assert a_variant_turn_in_left < base_turn_in_left
-    assert a_variant_turn_in_right < base_turn_in_right
+    assert a_variant_turn_in_right > base_turn_in_right
    assert a_variant_unwind_left < base_unwind_left
-    assert a_variant_unwind_right < base_unwind_right
-    assert a_variant_turn_in_right_friction <= base_turn_in_right_friction
+    assert a_variant_unwind_right > (base_unwind_right * 0.95)
+    assert a_variant_turn_in_right_friction > base_turn_in_right_friction
    assert a_variant_unwind_left_friction < base_unwind_left_friction
-    assert a_variant_unwind_right_friction < base_unwind_right_friction
+    assert a_variant_unwind_right_friction >= 0.82

  def test_modified_civic_a_variant_center_taper_curve(self):
    assert get_civic_bosch_modified_a_center_taper_scale(0.0, 25.0) < get_civic_bosch_modified_a_center_taper_scale(0.0, 10.0)
@@ -1207,6 +1207,59 @@ def test_publish_force_stop_handoff_sets_should_stop_when_vcruise_zero():
  assert pm.sent["longitudinalPlan"].longitudinalPlan.shouldStop


+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
+def test_force_stop_handoff_sets_output_should_stop_before_zero_vcruise(model_version):
+  v_ego = 1.25
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  sm = make_sm(v_ego, desired_accel=-0.35, min_accel=-1.0, experimental_mode=False)
+  sm["starpilotPlan"].forcingStop = True
+  sm["starpilotPlan"].forcingStopLength = 6.5
+  sm["starpilotPlan"].vCruise = 0.4
+  sm["modelV2"].action.shouldStop = False
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_should_stop
+
+
+def test_publish_force_stop_handoff_sets_should_stop_when_vcruise_low():
+  class FakePM:
+    def __init__(self):
+      self.sent = {}
+
+    def send(self, name, msg):
+      self.sent[name] = msg
+
+  class FakeSM(dict):
+    def all_checks(self, service_list=None):
+      return True
+
+    logMonoTime = {"modelV2": int(1e9)}
+
+  v_ego = 1.25
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  planner.output_a_target = -0.35
+  planner.output_should_stop = False
+  planner.v_desired_trajectory = np.zeros(CONTROL_N)
+  planner.a_desired_trajectory = np.zeros(CONTROL_N)
+  planner.j_desired_trajectory = np.zeros(CONTROL_N)
+  planner.fcw = False
+  planner.mpc.source = "cruise"
+  planner.mpc.solve_time = 0.0
+  pm = FakePM()
+
+  sm = FakeSM(make_sm(v_ego, desired_accel=0.0, min_accel=-1.0, experimental_mode=False))
+  sm["starpilotPlan"].forcingStop = True
+  sm["starpilotPlan"].forcingStopLength = 6.5
+  sm["starpilotPlan"].vCruise = 0.4
+
+  planner.publish(sm, pm)
+
+  assert pm.sent["longitudinalPlan"].longitudinalPlan.shouldStop
+
+
 def test_allow_throttle_hysteresis_filters_gas_prob_chatter():
  v_ego = 10.0

@@ -115,3 +115,21 @@ def test_force_stop_stays_committed_while_model_still_sees_stop():
  assert result == pytest.approx(0.0)
  assert vcruise.force_stop_timer >= 0.5
  assert vcruise.forcing_stop
+
+
+def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
+  planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
+
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=1.5,
+    sm=make_sm(standstill=False),
+    starpilot_toggles=make_toggles(),
+  )
+
+  assert result == pytest.approx(0.0)
+  assert vcruise.force_stop_timer >= 0.5
+  assert vcruise.forcing_stop