Use CP.vEgoStopping and clean up CP.startAccel (#22199)

* use CP.vEgoStopping and clean up

* update ref
old-commit-hash: 1e62b09e5dd70cae6721d2da9f7bcef59aa87c10

selfdrive/car/gm/interface.py

@@ -105,8 +105,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [0.]
     ret.longitudinalTuning.kiV = [0.36]
 
-    ret.startAccel = 0.8
-
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
 

selfdrive/car/honda/interface.py

@@ -291,8 +291,6 @@ class CarInterface(CarInterfaceBase):
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
-    ret.startAccel = 0.5
-
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5
     ret.steerLimitTimer = 0.8

selfdrive/car/hyundai/interface.py

@@ -22,8 +22,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     tire_stiffness_factor = 1.
 
-    ret.startAccel = 1.0
-
     if candidate == CAR.SANTA_FE:
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG

selfdrive/car/interfaces.py

@@ -72,10 +72,10 @@ class CarInterfaceBase():
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.openpilotLongitudinalControl = False
-    ret.startAccel = 0.0
     ret.minSpeedCan = 0.3
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
+    ret.vEgoStopping = 0.5
     ret.stoppingControl = True
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]

selfdrive/car/toyota/interface.py

@@ -330,7 +330,6 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
       ret.startingAccelRate = 6.0  # release brakes fast
-      ret.startAccel = 1.2  # Accelerate from 0 faster
     else:
       # Default longitudinal tune
       ret.longitudinalTuning.deadzoneBP = [0., 9.]

selfdrive/controls/lib/longcontrol.py

@@ -6,7 +6,6 @@ from selfdrive.modeld.constants import T_IDXS
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
-STOPPING_EGO_SPEED = 0.5
 STOPPING_TARGET_SPEED_OFFSET = 0.01
 STARTING_TARGET_SPEED = 0.5
 DECEL_THRESHOLD_TO_PID = 0.8
@@ -20,13 +19,12 @@ ACCEL_MIN_ISO = -3.5 # m/s^2
 ACCEL_MAX_ISO = 2.0 # m/s^2
 
 
-# TODO this logic isn't really car independent, does not belong here
-def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
+def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_pid,
                              output_accel, brake_pressed, cruise_standstill, min_speed_can):
   """Update longitudinal control state machine"""
   stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
-                       (v_ego < STOPPING_EGO_SPEED and
+                       (v_ego < CP.vEgoStopping and
                         ((v_pid < stopping_target_speed and v_target < stopping_target_speed) or
                          brake_pressed))
 
@@ -93,7 +91,7 @@ class LongControl():
 
     # Update state machine
     output_accel = self.last_output_accel
-    self.long_control_state = long_control_state_trans(active, self.long_control_state, CS.vEgo,
+    self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
                                                        v_target_future, self.v_pid, output_accel,
                                                        CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f489c4e160cebde60907d3cd2bfbc06bd9d33aad
+65c39ad66072b5106399605761c48e6cad0ee3a5