Revert "Planner Pedal Calculation"

This reverts commit 60ef10bd32.

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -310,9 +310,8 @@ class LongitudinalMpc:
     self.current_j_ego_cost = J_EGO_COSTS[0]
     self.current_a_change_cost = A_CHANGE_COSTS[0]
     self.current_dist_adapt = DIST_ADAPTS[0]
+    # Initialize acceleration limits to prevent AttributeError
     self.cruise_min_a = ACCEL_MIN
-    self.expected_min_a = ACCEL_MIN
-    self.expected_min_a_profile = np.full(N+1, ACCEL_MIN)
     self.max_a = 1.2  # Default max acceleration
     self.reset()
 
@@ -333,7 +332,6 @@ class LongitudinalMpc:
     self.params = np.zeros((N+1, PARAM_DIM))
     for i in range(N+1):
       self.solver.set(i, 'x', np.zeros(X_DIM))
-    self.expected_min_a_profile = np.full(N+1, self.expected_min_a)
     self.last_cloudlog_t = 0
     self.status = False
     self.crash_cnt = 0.0
@@ -497,9 +495,8 @@ class LongitudinalMpc:
       a_lead_tau = LEAD_ACCEL_TAU
 
     # MPC will not converge if immediate crash is expected
-    # Clip lead distance to what is still possible to brake for using the current decel limit
-    decel_capable = max(-self.expected_min_a, 0.1)
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (decel_capable * 2)
+    # Clip lead distance to what is still possible to brake for
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
@@ -511,13 +508,6 @@ class LongitudinalMpc:
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau, v_ego)
     return lead_xv
 
-  def set_expected_min_accel(self, min_a, profile=None):
-    self.expected_min_a = min_a
-    if profile is not None and len(profile) == N+1:
-      self.expected_min_a_profile = np.asarray(profile, dtype=float)
-    else:
-      self.expected_min_a_profile = np.full(N+1, min_a)
-
   def set_accel_limits(self, min_a, max_a):
     # TODO this sets a max accel limit, but the minimum limit is only for cruise decel
     # needs refactor
@@ -537,7 +527,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = self.cruise_min_a
+    self.params[:,0] = ACCEL_MIN
     # negative accel constraint causes problems because negative speed is not allowed
     self.params[:,1] = max(0.0, self.max_a)
 
@@ -545,8 +535,9 @@ class LongitudinalMpc:
     if self.mode == 'acc':
       self.params[:,5] = LEAD_DANGER_FACTOR
 
-      v_lower = v_ego + np.cumsum(T_DIFFS * self.expected_min_a_profile * 1.05)
-      v_lower = np.clip(v_lower, 0.0, 1e8)
+      # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
+      # when the leads are no factor.
+      v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
       # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),

selfdrive/controls/lib/longitudinal_planner.py

@@ -18,18 +18,6 @@ from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.0
-PEDAL_DECEL_BP = [
-  0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
-  16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
-  30, 31, 32, 33, 34,
-]
-PEDAL_DECEL_V = [
-  -1.379, -1.855, -2.167, -2.311, -2.411, -2.455, -2.493, -2.500, -2.500,
-  -2.530, -2.366, -2.151, -1.955, -1.839, -1.777, -1.741,
-  -1.705, -1.670, -1.652, -1.661, -1.679, -1.696, -1.696, -1.679,
-  -1.652, -1.634, -1.652, -1.670, -1.696, -1.696, -1.696, -1.598,
-  -1.518, -1.471, -1.4,
-]
 A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
 A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -66,12 +54,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_min_accel(CP, v_ego):
-  if CP.enableGasInterceptor:
-    return float(interp(v_ego, PEDAL_DECEL_BP, PEDAL_DECEL_V))
-  return A_CRUISE_MIN
-
-
 def get_accel_from_plan_classic(CP, speeds, accels, vEgoStopping):
   if len(speeds) == CONTROL_N:
     v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
@@ -196,20 +178,6 @@ class LongitudinalPlanner:
       throttle_prob = 1.0
     return x, v, a, j, throttle_prob
 
-  def _expected_decel_profile(self, v_start):
-    t_diffs = np.diff(T_IDXS_MPC, prepend=[0.0])
-    profile = np.zeros_like(T_IDXS_MPC)
-    v = float(v_start)
-    for i in range(len(T_IDXS_MPC)):
-      a_exp = get_min_accel(self.CP, v)
-      speed_mph = v * CV.MS_TO_MPH
-      factor = interp(speed_mph, [0.0, 30.0, 300.0], [0.75, 0.75, 0.9])
-      a_scaled = a_exp * factor
-      profile[i] = a_scaled
-      if i < len(T_IDXS_MPC) - 1:
-        v = max(0.0, v + a_scaled * t_diffs[i + 1])
-    return profile
-
   def update(self, tinygrad_model, sm, frogpilot_toggles):
     self.generation = frogpilot_toggles.model_version
     if tinygrad_model:
@@ -226,8 +194,6 @@ class LongitudinalPlanner:
       accel_coast = ACCEL_MAX
 
     v_ego = max(sm['carState'].vEgo, sm['carState'].vEgoCluster)
-    expected_min_accel_profile = self._expected_decel_profile(v_ego)
-    expected_min_accel = float(expected_min_accel_profile[0])
     v_cruise = sm['frogpilotPlan'].vCruise
     v_cruise_initialized = sm['controlsState'].vCruise != V_CRUISE_UNSET
 
@@ -431,7 +397,6 @@ class LongitudinalPlanner:
                          uncertainty=uncertainty,
                          accel_reengage=self.accel_gate,
                          panic_bypass=panic_bypass)
-    self.mpc.set_expected_min_accel(expected_min_accel, expected_min_accel_profile)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     # After deciding the MPC mode via get_mpc_mode(), ensure MPC uses that mode when not mlsim