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Force Stop bugfix: gap behind leads 2

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whoisdomi
2026-05-06 10:56:17 -05:00
committed by firestar5683
parent c71a9aed6e
commit be9ab0a7e6
1 changed files with 15 additions and 5 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+15 -5
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@@ -65,16 +65,25 @@ class StarPilotVCruise:
long_control_active = sm["carControl"].longActive
# ----- Activation paths -----
# Raw lead check: block Force Stop as soon as a relevant lead is present, without
# waiting for the tracking_lead filter (~1s ramp). Without this, Force Stop can latch
# during the filter's settling window and stay committed for the whole stop.
lead = self.starpilot_planner.lead_one
lead_present = (bool(getattr(lead, "status", False))
and float(getattr(lead, "dRel", float("inf"))) < ACTIVATION_M
and float(getattr(lead, "vLead", float("inf"))) < v_ego + 2.0)
# CEM/model path: model predicted stop within ACTIVATION_M.
# Exclude when tracking a lead — the handoff_to_stopped_lead path in CEM can set
# stop_light_detected even with a lead present, which would incorrectly activate
# Force Stop and stop the car far behind the lead instead of letting ACC handle it.
# Exclude when a lead is present (raw or filtered) — the handoff_to_stopped_lead path
# in CEM can set stop_light_detected even with a lead present, which would incorrectly
# activate Force Stop and stop the car far behind the lead instead of letting ACC handle it.
cem_path = (self.starpilot_planner.starpilot_cem.stop_light_detected
and controls_enabled and starpilot_toggles.force_stops
and self.starpilot_planner.model_length < ACTIVATION_M
and self.override_force_stop_timer <= 0
and not self.starpilot_planner.driving_in_curve
and not self.starpilot_planner.tracking_lead)
and not self.starpilot_planner.tracking_lead
and not lead_present)
# Dashboard path: ADAS camera confirms a stop sign on our road. Field is 0 on
# platforms that don't publish ADAS_0x380, so dash_path is naturally inert there.
@@ -84,7 +93,8 @@ class StarPilotVCruise:
and v_ego < ADAS_MAX_MS
and self.override_force_stop_timer <= 0
and not self.starpilot_planner.driving_in_curve
and not self.starpilot_planner.tracking_lead)
and not self.starpilot_planner.tracking_lead
and not lead_present)
force_stop_active = cem_path or dash_path