From 947c6af6368fdf2b8302af04f219237dd735da80 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Fri, 31 Jul 2026 15:52:09 -0500 Subject: [PATCH] stop 7 --- starpilot/controls/lib/starpilot_vcruise.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py index 346dd4fec..88bd35576 100644 --- a/starpilot/controls/lib/starpilot_vcruise.py +++ b/starpilot/controls/lib/starpilot_vcruise.py @@ -612,7 +612,12 @@ class StarPilotVCruise: and not turn_scene_active and not self.starpilot_planner.tracking_lead and not lead_present): - approach_d = self.starpilot_planner.model_length + offset_m + # adjacent-stopped hint caps the model distance; shorten-only, self-clearing + approach_d = self.starpilot_planner.model_length + adjacent_stop_d = self._get_adjacent_stop_distance(sm) + if adjacent_stop_d is not None: + approach_d = min(approach_d, adjacent_stop_d) + approach_d += offset_m if approach_d > MPC_HANDOFF_M: targets.append(math.sqrt(2.0 * FORCE_STOP_APPROACH_DECEL * (approach_d - MPC_HANDOFF_M)))