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Force Stop bugfix: gap behind leads

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Force Stop (cem_path) was missing a tracking_lead guard, causing it to activate behind stopped leads at red lights and stop signs — stopping the car far short of the lead instead of letting ACC handle following distance. Added and not self.starpilot_planner.tracking_lead to cem_path, matching the guard already present on dash_path.
This commit is contained in:
whoisdomi
2026-05-06 07:22:48 -05:00
committed by firestar5683
parent ecf6161f9c
commit c71a9aed6e
1 changed files with 6 additions and 2 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+6 -2
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@@ -65,12 +65,16 @@ class StarPilotVCruise:
long_control_active = sm["carControl"].longActive
# ----- Activation paths -----
# CEM/model path: model predicted stop within ACTIVATION_M
# 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.
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.driving_in_curve
and not self.starpilot_planner.tracking_lead)
# 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.