From cee5cf447192f6b746da35ce2321a6785f110b48 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Thu, 6 Aug 2026 14:21:27 -0500 Subject: [PATCH] Force Stop: more prebrake --- starpilot/controls/lib/starpilot_vcruise.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/starpilot/controls/lib/starpilot_vcruise.py b/starpilot/controls/lib/starpilot_vcruise.py index 6a5d1ce65..4e4dced0f 100644 --- a/starpilot/controls/lib/starpilot_vcruise.py +++ b/starpilot/controls/lib/starpilot_vcruise.py @@ -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