mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-01 05:33:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

bug fix hem to stop

Browse Source
This commit is contained in:
Prabhaav Pillai
2026-08-30 21:25:19 -04:00
parent 1d893418c8
commit 74a15083aa
1 changed files with 10 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_planner.py
+10 -1
View File
@@ -3046,8 +3046,17 @@ class LongitudinalPlanner:
getattr(starpilot_toggles, "hybrid_exp_bias", 0.0),
getattr(starpilot_toggles, "hybrid_vision_brake_sensitivity", 1.0),
)
a_exp_raw = float(sm['modelV2'].action.desiredAcceleration)
should_stop_exp = bool(sm['modelV2'].action.shouldStop)
model_v2 = sm['modelV2']
if (len(getattr(model_v2.velocity, 'x', [])) == ModelConstants.IDX_N and
len(getattr(model_v2.acceleration, 'x', [])) == ModelConstants.IDX_N):
v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_v2.velocity.x)
a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_v2.acceleration.x)
v_target = float(np.interp(action_t, T_IDXS_MPC, v))
a_exp_traj = 2.0 * (v_target - float(v[0])) / max(action_t, 1e-3) - float(a[0])
a_exp_raw = float(np.clip(a_exp_traj, -12.0, 3.0))
else:
a_exp_raw = float(model_v2.action.desiredAcceleration)
# Pass the active lead that MPC is tracking (leadTwo when source == "lead1")
# so HEM is never blind to the radar lead actually being followed.