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firestar5683
2026-02-18 08:02:26 -06:00
parent 259ac19499
commit 85906ceb77
1 changed files with 4 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+4 -2
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@@ -348,7 +348,8 @@ class LongitudinalPlanner:
(self.a_desired > 0.0) and
self.stable_lead and
(uncertainty <= 0.425) and
(desire_entropy < 0.41)
(desire_entropy < 0.41) and
(v_ego > 5.0)
)
# dwell timers for robust gating
@@ -427,7 +428,8 @@ class LongitudinalPlanner:
self.a_desired = float(self.a_desired - pre_brake)
# Apply tiny feed-forward nudge when released and safe
if now_t < self.accel_nudge_until and self.a_desired > -0.1:
close_lead = self.lead_one.status and self.lead_one.dRel < 10.0
if now_t < self.accel_nudge_until and self.a_desired > -0.1 and not close_lead:
self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
# Small deadzone around zero accel to kill micro-dithers