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Could this be the last accel chain?

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Issue: limit_accel_in_turns breakpoint table started at 20 m/s, causing np.interp to clamp a_total_max to 1.7 m/s² for all speeds below 20 m/s (~45 mph), overriding acceleration profiles during the entire low-speed pull.
Fix: Extended _A_TOTAL_MAX_BP down to 0 m/s with a 3.5 m/s² ceiling, matching the maximum ACCEL_MAX.
Turn protection still works correctly since a_y grows with v² and naturally consumes the budget in actual turns.
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whoisdomi
2026-05-04 10:28:29 -05:00
parent 471981f732
commit 997c1be7b6
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/longitudinal_planner.py
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@@ -99,8 +99,8 @@ UNCERT_SLOPE_TRIG = 0.12 # per second
UNCERT_MAG_TRIG = 0.50
# Lookup table for turns
_A_TOTAL_MAX_V = [1.7, 3.2]
_A_TOTAL_MAX_BP = [20., 40.]
_A_TOTAL_MAX_V = [3.5, 3.5, 3.2]
_A_TOTAL_MAX_BP = [0., 20., 40.]
def get_longitudinal_personality(sm):