mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-31 21:23:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Force Stop Tweak

Browse Source 
Ratched only down below 40m to prevent model jitter from overshooting.

Original PR author: whoisdomi <dcantu83@gmail.com>.
This commit is contained in:
whoisdomi
2026-08-26 10:24:29 -05:00
committed by firestar5683
parent e20ea5d0d1
commit 6a17743513
2 changed files with 17 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/tests/test_starpilot_vcruise.py
+15 -3
View File
@@ -522,14 +522,14 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
def test_force_stop_reanchors_when_model_reopens_path_without_stop_action():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 40.0
vcruise.tracked_model_length = 10.0
planner.model_length = 90.0
vcruise.tracked_model_length = 60.0
sm = make_sm(standstill=False)
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
result = update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
assert vcruise.tracked_model_length == pytest.approx(40.0)
assert vcruise.tracked_model_length == pytest.approx(90.0)
assert result > 5.0
@@ -561,6 +561,18 @@ def test_santa_fe_force_stop_holds_through_low_speed_detector_dropout():
assert result == pytest.approx(0.0)
def test_force_stop_does_not_reanchor_inside_reanchor_floor():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 90.0
vcruise.tracked_model_length = 25.0
sm = make_sm(standstill=False)
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
assert vcruise.tracked_model_length < 25.0
def test_force_stop_does_not_reanchor_committed_model_stop():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 40.0
starpilot/controls/lib/starpilot_vcruise.py
+2 -1
View File
@@ -76,6 +76,7 @@ FORCE_STOP_TURN_VETO_STEERING_ANGLE = 25.0
FORCE_STOP_CURVE_VETO_MAX_ROAD_CURVATURE = 0.003
FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME = 4.0
FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP = 3.0 # m — ignore small model-horizon noise
FORCE_STOP_REANCHOR_MIN_M = 40.0
# Knob bounds (mirror of UI slider; defense in depth)
OFFSET_FT_MIN = -20
@@ -632,7 +633,7 @@ class StarPilotVCruise:
model_wants_stop = False
if (
not dash_active and
self.tracked_model_length > force_stop_handoff_m and
self.tracked_model_length > max(force_stop_handoff_m, FORCE_STOP_REANCHOR_MIN_M) and
not model_wants_stop and
model_length > self.tracked_model_length + FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP and
(