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Fix Lead departure issue

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firestar5683
2026-03-18 19:35:45 -05:00
parent 4e6659c028
commit 613dc0e682
1 changed files with 3 additions and 1 deletions
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frogpilot/controls/lib/frogpilot_following.py
+3 -1
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@@ -8,6 +8,7 @@ from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
PERSONALITY_BP = [45. * CV.MPH_TO_MS, 70. * CV.MPH_TO_MS]
HIGHWAY_DISABLE_THROTTLE_MIN_SPEED = 45. * CV.MPH_TO_MS
class FrogPilotFollowing:
def __init__(self, FrogPilotPlanner):
@@ -86,7 +87,8 @@ class FrogPilotFollowing:
coast_window_far = lead_distance < desired_gap + max(25.0, 1.2 * v_ego)
gentle_closing = closing_speed < max(2.0, 0.12 * v_ego)
self.disable_throttle = (not self.following_lead and v_ego > 5.0 and coast_window_open and
# Highway-only coast suppression: keep low-speed lead departures responsive.
self.disable_throttle = (not self.following_lead and v_ego > HIGHWAY_DISABLE_THROTTLE_MIN_SPEED and coast_window_open and
coast_window_far and gentle_closing)
# Never coast when we are entering a potentially late-braking scenario.
self.disable_throttle &= ttc > 6.0 and lead_distance > desired_gap + 6.0