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final stop

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firestar5683
2026-05-16 08:52:00 -05:00
parent be585f72a3
commit 5c30a69e10
2 changed files with 114 additions and 3 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+55 -3
View File
@@ -132,10 +132,18 @@ VISION_LOW_SPEED_STOP_BUFFER_MIN_BRAKE = 1.25
VISION_LOW_SPEED_STOP_BUFFER_BRAKE_GAIN = 0.25
VISION_CLOSE_STOP_HOLD_MAX_EGO_SPEED = 0.75
VISION_CLOSE_STOP_HOLD_MAX_LEAD_SPEED = 0.8
VISION_CLOSE_STOP_HOLD_MAX_DISTANCE = 2.8
VISION_CLOSE_STOP_HOLD_MAX_DISTANCE = 3.5
VISION_CLOSE_STOP_HOLD_MIN_MODEL_PROB = 0.95
VISION_CLOSE_STOP_HOLD_MIN_BRAKE = 0.12
VISION_CLOSE_STOP_HOLD_MAX_BRAKE = 0.28
VISION_CLOSE_STOP_HOLD_MIN_BRAKE = 0.20
VISION_CLOSE_STOP_HOLD_MAX_BRAKE = 0.36
VISION_CLOSE_RELEASE_HOLD_MAX_EGO_SPEED = 2.5
VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_SPEED = 3.5
VISION_CLOSE_RELEASE_HOLD_MAX_DISTANCE = 4.2
VISION_CLOSE_RELEASE_HOLD_MIN_MODEL_PROB = 0.98
VISION_CLOSE_RELEASE_HOLD_MIN_LEAD_DELTA = -0.1
VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_DELTA = 1.5
VISION_CLOSE_RELEASE_HOLD_MIN_BRAKE = 0.18
VISION_CLOSE_RELEASE_HOLD_MAX_BRAKE = 0.40
MANUAL_STOP_RESUME_OVERRIDE_TIME = 3.0
MANUAL_STOP_RESUME_OVERRIDE_MAX_SPEED = 2.0
MANUAL_STOP_RESUME_OVERRIDE_MIN_ACCEL = 0.2
@@ -756,6 +764,35 @@ class LongitudinalPlanner:
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)
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)):
return None
lead_prob = float(getattr(lead, "modelProb", 0.0))
if lead_prob < VISION_CLOSE_RELEASE_HOLD_MIN_MODEL_PROB:
return None
lead_speed = max(float(lead.vLead), 0.0)
lead_delta = lead_speed - float(v_ego)
if (
float(v_ego) > VISION_CLOSE_RELEASE_HOLD_MAX_EGO_SPEED or
lead_speed > VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_SPEED or
float(lead.dRel) > VISION_CLOSE_RELEASE_HOLD_MAX_DISTANCE or
lead_delta < VISION_CLOSE_RELEASE_HOLD_MIN_LEAD_DELTA or
lead_delta > VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_DELTA
):
return None
distance_factor = float(np.clip((VISION_CLOSE_RELEASE_HOLD_MAX_DISTANCE - float(lead.dRel)) /
max(VISION_CLOSE_RELEASE_HOLD_MAX_DISTANCE - 2.8, 0.1), 0.0, 1.0))
speed_factor = float(np.clip(float(v_ego) / max(VISION_CLOSE_RELEASE_HOLD_MAX_EGO_SPEED, 0.1), 0.0, 1.0))
delta_factor = float(np.clip((VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_DELTA - lead_delta) /
max(VISION_CLOSE_RELEASE_HOLD_MAX_LEAD_DELTA - VISION_CLOSE_RELEASE_HOLD_MIN_LEAD_DELTA, 0.1),
0.0, 1.0))
hold_brake = VISION_CLOSE_RELEASE_HOLD_MIN_BRAKE + 0.12 * distance_factor + 0.06 * speed_factor + 0.04 * delta_factor
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)
def _update_manual_stop_resume_override(self, sm):
now_t = time.monotonic()
lead = sm["radarState"].leadOne
@@ -1618,6 +1655,17 @@ class LongitudinalPlanner:
self.a_desired = min(self.a_desired, close_stop_hold_cap)
output_a_target = min(output_a_target, close_stop_hold_cap)
close_release_hold_cap = None
if lead_control_active and not output_should_stop:
close_release_hold_caps = [
cap for cap in (
self.get_vision_close_release_hold_cap(self.lead_one, scene_v_ego, vision_cap_accel_min, output_should_stop),
self.get_vision_close_release_hold_cap(self.lead_two, scene_v_ego, vision_cap_accel_min, output_should_stop),
) if cap is not None
]
if close_release_hold_caps:
close_release_hold_cap = min(close_release_hold_caps)
if lead_one_active:
lead_catchup_accel_cap = self.get_lead_catchup_accel_cap(self.lead_one, scene_v_ego, effective_t_follow)
if lead_catchup_accel_cap is not None:
@@ -1688,6 +1736,10 @@ 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))
if close_release_hold_cap is not None:
self.a_desired = min(self.a_desired, close_release_hold_cap)
output_a_target = min(output_a_target, close_release_hold_cap)
force_stop_handoff = bool(
getattr(sm['starpilotPlan'], 'forcingStop', False) and
not lead_control_active and
selfdrive/controls/tests/test_longitudinal_planner.py
+59
View File
@@ -839,6 +839,65 @@ def test_acc_mode_close_moving_vision_lead_keeps_negative_output_while_should_st
assert all(output <= -0.02 for output in outputs[2:])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
def test_acc_mode_close_near_standstill_vision_lead_keeps_meaningful_brake_floor(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.017)
sm = make_sm(
0.017,
desired_accel=-0.06,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=True,
lead_one=make_lead(status=True, d_rel=2.83, v_lead=0.09, a_lead=0.10, radar=False, model_prob=0.9999),
)
sm["controlsState"].longControlState = LongCtrlState.stopping
sm["starpilotPlan"].vCruise = 10.0
sm["modelV2"].action.shouldStop = True
planner.update(sm, make_toggles(model_version))
assert planner.output_should_stop
assert planner.output_a_target <= -0.20
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
def test_acc_mode_close_opening_vision_lead_does_not_drop_to_zero_after_stop_release(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=1.49)
toggles = make_toggles(model_version)
sm_stop = make_sm(
1.488,
desired_accel=-1.64,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=True,
lead_one=make_lead(status=True, d_rel=3.433, v_lead=1.469, a_lead=0.58, radar=False, model_prob=0.9996),
)
sm_stop["controlsState"].longControlState = LongCtrlState.stopping
sm_stop["starpilotPlan"].vCruise = 10.0
sm_stop["modelV2"].action.shouldStop = True
planner.update(sm_stop, toggles)
sm_release = make_sm(
1.420,
desired_accel=0.0,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=True,
lead_one=make_lead(status=True, d_rel=3.568, v_lead=1.679, a_lead=0.66, radar=False, model_prob=0.9994),
)
sm_release["controlsState"].longControlState = LongCtrlState.pid
sm_release["starpilotPlan"].vCruise = 10.0
sm_release["modelV2"].action.shouldStop = False
planner.update(sm_release, toggles)
assert not planner.output_should_stop
assert planner.output_a_target <= -0.18
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
def test_acc_mode_tracked_vision_model_brake_floor_prevents_positive_output_on_slower_lead(model_version):
v_ego = 19.1