From 508863e5a82b24e82c1cda13ce3d7a6ba069a6e2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 7 Apr 2026 21:49:31 -0700 Subject: [PATCH] Long policy: less creepy (#37755) * fix * better --- selfdrive/controls/lib/drive_helpers.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index bf6dd04f60..1e2fb27b51 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -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):