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Force Stop hold 2 sec

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This commit is contained in:
whoisdomi
2026-08-21 08:30:22 -05:00
parent afe777fd03
commit 67f5ede3ad
2 changed files with 7 additions and 4 deletions
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selfdrive/controls/tests/test_starpilot_vcruise.py
+4 -3
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@@ -8,6 +8,7 @@ from openpilot.starpilot.common.starpilot_variables import PLANNER_TIME
from openpilot.starpilot.controls.lib.curve_speed_controller import CSC_GLOW_HOLD_TIME, CSC_GLOW_ON_DELTA
from openpilot.starpilot.controls.lib.starpilot_vcruise import (
FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME,
STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME,
StarPilotVCruise,
get_active_slc_control_target,
get_lead_veto_distance,
@@ -1042,16 +1043,16 @@ def test_standstill_light_hold_expires_and_does_not_rearm_from_stopped_model():
assert update_vcruise(vcruise, sm, toggles, now=0.0) == pytest.approx(0.0)
assert vcruise.standstill_force_stop_reason == "light"
assert update_vcruise(vcruise, sm, toggles, now=4.9) == pytest.approx(0.0)
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME - 0.1) == pytest.approx(0.0)
assert vcruise.forcing_stop
assert update_vcruise(vcruise, sm, toggles, now=5.1) == pytest.approx(20.0)
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME + 0.1) == pytest.approx(20.0)
assert not vcruise.forcing_stop
assert not vcruise.standstill_force_stop_hold
# The red-light model remains stopped, but Force Stop must stay released so
# Experimental Mode can own the red-to-green departure.
assert update_vcruise(vcruise, sm, toggles, now=5.2) == pytest.approx(20.0)
assert update_vcruise(vcruise, sm, toggles, now=STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME + 0.2) == pytest.approx(20.0)
assert not vcruise.forcing_stop
starpilot/controls/lib/starpilot_vcruise.py
+3 -1
View File
@@ -22,7 +22,9 @@ from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import (
CSC_MIN_SPEED = CITY_SPEED_LIMIT * CV.MPH_TO_MS
OVERRIDE_FORCE_STOP_TIMER = 10
STANDSTILL_FORCE_STOP_CLEAR_TIME = 0.75
STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME = 5.0
# Open-loop — green is undetectable at standstill, so this only needs to cover the
# handoff to CEM+model ownership. Extra seconds are pure departure lag.
STANDSTILL_FORCE_STOP_LIGHT_HOLD_TIME = 2.0
FORCE_STOP_LIGHT_CLEAR_TIME = 0.5
SLC_LEAD_DROP_RELAXATION_MIN_SPEED = 20.0 * CV.MPH_TO_MS
SLC_LEAD_DROP_RELAXATION_MIN_DISTANCE = 30.0