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Add KINEMATIC_STOP_GAIN parameter to HybridExperimentalMode for enhanced stop-line braking control

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Prabhaav Pillai
2026-08-26 14:54:29 -04:00
parent 3265a98d91
commit 8a174822e7
1 changed files with 5 additions and 1 deletions
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starpilot/controls/lib/hybrid_experimental_mode.py
+5 -1
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@@ -60,6 +60,7 @@ class HybridExperimentalMode:
# User tuning
self.HYBRID_EXP_BIAS = 0.2 # [-1.0, 1.0]
self.VISION_BRAKE_SENSITIVITY = 1.2 # [0.0, 2.0]
self.KINEMATIC_STOP_GAIN = 1.0 # [0.0, 2.0] scales the -v^2/2d stop-line brake floor
# Active profile parameters
self.t_follow = self.BASE_T_FOLLOW
@@ -76,9 +77,11 @@ class HybridExperimentalMode:
self.last_exp_dominant = False
self.diag = {}
def set_tuning(self, exp_bias: float, vision_brake_sensitivity: float, t_follow=None, jerk_factor=None):
def set_tuning(self, exp_bias: float, vision_brake_sensitivity: float, kinematic_stop_gain: float = 1.0,
t_follow=None, jerk_factor=None):
self.HYBRID_EXP_BIAS = float(np.clip(exp_bias, -1.0, 1.0))
self.VISION_BRAKE_SENSITIVITY = float(np.clip(vision_brake_sensitivity, 0.0, 2.0))
self.KINEMATIC_STOP_GAIN = float(np.clip(kinematic_stop_gain, 0.0, 2.0))
if t_follow is not None or jerk_factor is not None:
self._update_profile_limits(
t_follow if t_follow is not None else self.t_follow,
@@ -156,6 +159,7 @@ class HybridExperimentalMode:
if v_ego > 0.1 and 0.2 < d_min < float("inf") and stop_confidence > 0.15:
a_kinematic_stop = float(np.clip(- (v_ego ** 2) / (2.0 * d_stop_effective), -3.5, 0.0))
a_kinematic_stop *= self.KINEMATIC_STOP_GAIN
if d_stop_effective < 6.0 and v_ego < 3.0:
a_kinematic_stop = min(a_kinematic_stop, -0.6)
a_exp_effective = min(a_exp, a_kinematic_stop)