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chill takeoff

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firestar5683
2026-06-08 19:47:51 -05:00
parent 5f413b967e
commit 98d6a4eac0
2 changed files with 156 additions and 0 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+84
View File
@@ -46,6 +46,15 @@ LEAD_DEPART_CONFIDENT_MIN_LEAD_SPEED = 0.3
LEAD_DEPART_CONFIDENT_MIN_LEAD_DELTA = 0.25
LEAD_DEPART_CONFIDENT_MIN_LEAD_ACCEL = 0.2
LEAD_DEPART_CONFIDENT_CONFIRM_TIME = 0.35
STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED = 0.5
STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_SPEED = 0.45
STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_DELTA = 0.35
STANDSTILL_STOPPED_LEAD_GUARD_MIN_MODEL_PROB = 0.95
STANDSTILL_STOPPED_LEAD_GUARD_MAX_LATERAL_OFFSET = 1.75
STANDSTILL_STOPPED_LEAD_GUARD_MIN_DISTANCE = 3.0
STANDSTILL_STOPPED_LEAD_GUARD_DISTANCE_MARGIN = 3.0
STANDSTILL_STOPPED_LEAD_GUARD_MIN_BRAKE = 0.16
STANDSTILL_STOPPED_LEAD_GUARD_MAX_BRAKE = 0.26
RADAR_DEPART_CONFLICT_MAX_EGO_SPEED = 1.6
RADAR_DEPART_CONFLICT_MIN_RADAR_LATERAL = 1.5
RADAR_DEPART_CONFLICT_MAX_RADAR_DISTANCE = 18.0
@@ -1098,6 +1107,50 @@ class LongitudinalPlanner:
0.55 * lead_factor + 0.45 * gap_factor, 0.0, 1.0)
return min(accel_cap, max(float(model_desired_accel), LEAD_DEPART_ACCEL_HOLD_MIN_ACCEL))
def get_standstill_stopped_lead_guard_cap(self, lead, v_ego, accel_min, stop_distance,
release_ready, confident_depart_ready):
if lead is None or not lead.status or release_ready or confident_depart_ready:
return None
if float(v_ego) > STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED:
return None
lead_radar = bool(getattr(lead, "radar", False))
lead_prob = float(getattr(lead, "modelProb", 1.0 if lead_radar else 0.0))
if not lead_radar and lead_prob < STANDSTILL_STOPPED_LEAD_GUARD_MIN_MODEL_PROB:
return None
if abs(float(getattr(lead, "yRel", 0.0))) > STANDSTILL_STOPPED_LEAD_GUARD_MAX_LATERAL_OFFSET:
return None
lead_speed = max(float(getattr(lead, "vLead", 0.0)), 0.0)
lead_delta = lead_speed - float(v_ego)
max_distance = max(
STANDSTILL_STOPPED_LEAD_GUARD_MIN_DISTANCE,
float(stop_distance) + STANDSTILL_STOPPED_LEAD_GUARD_DISTANCE_MARGIN,
)
if (
float(getattr(lead, "dRel", float("inf"))) > max_distance or
lead_speed > STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_SPEED or
lead_delta > STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_DELTA
):
return None
distance_factor = float(np.clip((max_distance - float(lead.dRel)) /
max(max_distance - STANDSTILL_STOPPED_LEAD_GUARD_MIN_DISTANCE, 0.1),
0.0, 1.0))
speed_factor = float(np.clip(lead_speed / max(STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_SPEED, 0.1), 0.0, 1.0))
delta_factor = float(np.clip((STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_DELTA - lead_delta) /
max(STANDSTILL_STOPPED_LEAD_GUARD_MAX_LEAD_DELTA, 0.1),
0.0, 1.0))
hold_brake = STANDSTILL_STOPPED_LEAD_GUARD_MIN_BRAKE + 0.06 * distance_factor + 0.02 * speed_factor + 0.02 * delta_factor
hold_brake = float(np.clip(
hold_brake,
STANDSTILL_STOPPED_LEAD_GUARD_MIN_BRAKE,
STANDSTILL_STOPPED_LEAD_GUARD_MAX_BRAKE,
))
brake_floor = -hold_brake
return brake_floor if accel_min >= 0.0 else max(accel_min, brake_floor)
def get_lead_catchup_accel_cap(self, lead, v_ego, t_follow):
if lead is None or not lead.status:
return None
@@ -2135,6 +2188,33 @@ class LongitudinalPlanner:
self.confident_lead_depart_elapsed >= LEAD_DEPART_CONFIDENT_CONFIRM_TIME
)
standstill_stopped_lead_guard_cap = None
if lead_control_active and (bool(sm['carState'].standstill) or float(sm['carState'].vEgo) <= STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED):
release_ready = bool(lead_depart_ready or confident_depart_ready)
standstill_stopped_lead_guard_caps = [
cap for cap in (
self.get_standstill_stopped_lead_guard_cap(
self.lead_one,
float(sm['carState'].vEgo),
output_accel_min,
standstill_nudge_gap,
release_ready,
confident_depart_ready,
),
self.get_standstill_stopped_lead_guard_cap(
self.lead_two,
float(sm['carState'].vEgo),
output_accel_min,
standstill_nudge_gap,
release_ready,
confident_depart_ready,
),
) if cap is not None
]
if standstill_stopped_lead_guard_caps:
standstill_stopped_lead_guard_cap = min(standstill_stopped_lead_guard_caps)
output_should_stop = True
if lead_control_active and sm['carState'].standstill and moving_leads and not depart_safety_veto:
output_a_target = max(output_a_target, STANDSTILL_LEAD_NUDGE_ACCEL)
@@ -2362,6 +2442,10 @@ class LongitudinalPlanner:
self.a_desired = min(self.a_desired, close_stop_hold_cap)
output_a_target = min(output_a_target, close_stop_hold_cap)
if standstill_stopped_lead_guard_cap is not None:
self.a_desired = min(self.a_desired, standstill_stopped_lead_guard_cap)
output_a_target = min(output_a_target, standstill_stopped_lead_guard_cap)
if close_settle_cap is not None:
self.a_desired = min(self.a_desired, close_settle_cap)
output_a_target = min(output_a_target, close_settle_cap)
selfdrive/controls/tests/test_longitudinal_planner.py
+72
View File
@@ -1120,6 +1120,78 @@ def test_standstill_moving_lead_applies_resume_floor_once_stop_clears(model_vers
assert planner.output_a_target >= 0.2
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_stopped_lead_guard_blocks_false_release_at_longer_gap(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
sm = make_sm(
0.03,
desired_accel=1.85,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=False,
lead_one=make_lead(status=True, d_rel=8.15, v_lead=0.04, a_lead=0.0, radar=False, model_prob=0.99),
)
sm["carState"].standstill = True
sm["controlsState"].longControlState = LongCtrlState.pid
sm["starpilotPlan"].vCruise = 10.0
sm["modelV2"].action.shouldStop = False
planner.update(sm, make_toggles(model_version))
assert planner.output_should_stop
assert planner.output_a_target <= 0.0
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_stopped_lead_guard_does_not_block_radar_depart_at_longer_gap(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
sm = make_sm(
0.0,
desired_accel=0.45,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=False,
lead_one=make_lead(status=True, d_rel=8.2, v_lead=0.72, a_lead=0.32, radar=True, model_prob=0.999, y_rel=0.1),
)
sm["carState"].standstill = True
sm["controlsState"].longControlState = LongCtrlState.stopping
sm["starpilotPlan"].vCruise = 10.0
sm["modelV2"].action.shouldStop = False
planner.update(sm, make_toggles(model_version))
assert not planner.output_should_stop
assert planner.output_a_target >= longitudinal_planner_module.STANDSTILL_LEAD_DEPART_MIN_ACCEL
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_stopped_lead_guard_blocks_false_release_during_creep_frame(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.2)
sm = make_sm(
0.2,
desired_accel=1.15,
min_accel=-0.5,
experimental_mode=False,
tracking_lead=False,
lead_one=make_lead(status=True, d_rel=7.9, v_lead=0.03, a_lead=0.0, radar=False, model_prob=0.99),
)
sm["carState"].standstill = False
sm["controlsState"].longControlState = LongCtrlState.pid
sm["starpilotPlan"].vCruise = 10.0
sm["modelV2"].action.shouldStop = False
planner.update(sm, make_toggles(model_version))
assert planner.output_should_stop
assert planner.output_a_target <= 0.0
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_confident_departing_lead_clears_stop_without_waiting_for_model_accel(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)