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Force Stop: more prebrake

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whoisdomi
2026-08-06 14:21:27 -05:00
parent d51bd65695
commit cee5cf4471
1 changed files with 2 additions and 3 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+2 -3
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@@ -46,9 +46,8 @@ ACTIVATION_HYSTERESIS_M = 8.0 # m — release margin; absorbs model_length jitt
LEAD_VETO_M = 75.0 # m — lead proximity that vetoes Force Stop (kept off ACTIVATION_M
# so raising activation can't silently widen the veto)
MPC_HANDOFF_M = 6.0 # m — below this, command 0 and let MPC finish the stop
FORCE_STOP_APPROACH_DECEL = 0.75 # m/s^2 — speed ceiling before commit. LOWER = more early
# braking. Must stay above FORCE_STOP_MODEL_APPROACH_DECEL or the
# pre-commit ceiling is stricter than the stop itself.
FORCE_STOP_APPROACH_DECEL = 0.65 # m/s^2 — speed ceiling before commit. LOWER = more early
# braking; don't go under FORCE_STOP_MODEL_APPROACH_DECEL
ADAS_MAX_MS = 17.88 # 40 mph — cross-street ADAS guard
DASH_SEED_M = 27.0 # ~88 ft — typical ADAS detection distance, used to snap
# tracked length closer when dashboard confirms a sign