From 60aa4aad49b0faddd28e354e345bd03d256983dc Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 25 Aug 2026 15:37:25 -0500
Subject: [PATCH] Add VOACC takeoff safety regression coverage

Co-authored-by: Robin Dittrich <r.dittrich@niverplast.com>
---
 .../controls/tests/test_lead_follow_policy.py | 18 +++++++++--
 .../tests/test_longitudinal_planner.py        | 31 +++++++++++++++++++
 2 files changed, 47 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/tests/test_lead_follow_policy.py b/selfdrive/controls/tests/test_lead_follow_policy.py
index 1c77e9bba..188cc2bdb 100644
--- a/selfdrive/controls/tests/test_lead_follow_policy.py
+++ b/selfdrive/controls/tests/test_lead_follow_policy.py
@@ -77,12 +77,26 @@ def test_follow_policy_never_relaxes_material_braking():
   assert result.target == pytest.approx(-1.2)
 
 
-def test_follow_policy_leaves_low_speed_vision_follow_uncapped():
-  result = run(lead(d_rel=8.0, v_lead=4.0), v_ego=2.0, raw=1.4)
+def test_follow_policy_leaves_low_speed_vision_departure_uncapped():
+  # This is the range the old vision-only cap affected; below 4.5 m/s the
+  # longitudinal planner still has its independent weak-lead safety cap.
+  result = run(lead(d_rel=12.0, v_lead=6.0), v_ego=5.0, raw=1.4)
   assert result.accel_cap is None
   assert result.target == pytest.approx(1.4)
 
 
+@pytest.mark.parametrize("v_ego", [0.0, 2.0, 4.5, 6.0, 7.9])
+def test_follow_policy_low_speed_vision_never_relaxes_braking(v_ego):
+  result = run(
+    lead(d_rel=8.0, v_lead=max(v_ego - 0.8, 0.0), a_lead=-0.8),
+    v_ego=v_ego,
+    previous=0.3,
+    raw=-0.6,
+  )
+
+  assert result.target <= -0.6
+
+
 def test_follow_policy_bypasses_post_departure_handoff():
   result = run(lead(d_rel=46.0, v_lead=22.0), v_ego=20.0, previous=0.0, raw=0.6, post_departure=True)
   assert result.target == pytest.approx(0.6)
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index 0ecd5b851..5d740fe40 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -1309,6 +1309,37 @@ def test_low_speed_weak_departure_accel_cap_softens_voacc_follow_pulse(model_ver
   assert planner.output_a_target <= 0.22
 
 
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+@pytest.mark.parametrize("v_ego,v_lead,d_rel", [
+  (4.5, 3.7, 12.0),
+  (6.0, 5.2, 12.0),
+  (7.5, 6.7, 12.0),
+])
+def test_acc_mode_low_speed_vision_takeoff_never_relaxes_closing_lead(model_version, v_ego, v_lead, d_rel):
+  """The takeoff change must not turn a closing vision lead into acceleration."""
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  sm = make_sm(
+    v_ego,
+    desired_accel=1.4,
+    min_accel=-1.0,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=make_lead(
+      status=True, d_rel=d_rel, v_lead=v_lead, a_lead=0.0,
+      radar=False, model_prob=0.99, y_rel=0.0,
+    ),
+  )
+  sm["starpilotPlan"].vCruise = v_ego + 10.0
+
+  for _ in range(3):
+    planner.update(sm, make_toggles(model_version))
+
+  assert planner.mode == "acc"
+  assert planner.output_a_target <= 0.0
+  assert not planner.output_should_stop
+
+
 @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
 def test_acc_mode_pretracking_vision_far_slower_lead_starts_braking_before_tracking(model_version):
   v_ego = 21.48