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Long policy: less creepy (#37755)

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* fix

* better
This commit is contained in:
Harald Schäfer
2026-04-07 21:49:31 -07:00
committed by GitHub
parent f28d6fb6bc
commit 508863e5a8
1 changed files with 3 additions and 5 deletions
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selfdrive/controls/lib/drive_helpers.py
+3 -5
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@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
return float(new_curvature), limited_accel or limited_max_curv
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.3):
if len(speeds) == len(t_idxs):
v_now = speeds[0]
a_now = accels[0]
v_target = np.interp(action_t, t_idxs, speeds)
a_target = 2 * (v_target - v_now) / (action_t) - a_now
v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
else:
v_now = 0.0
v_target = 0.0
v_target_1sec = 0.0
a_target = 0.0
should_stop = (v_target < vEgoStopping and
v_target_1sec < vEgoStopping)
should_stop = (v_now < vEgoStopping and a_target < 0.1)
return a_target, should_stop
def curv_from_psis(psi_target, psi_rate, vego, action_t):