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longcontrol: ignore cruise standstill if interceptor (#26597)

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* ignore standstill

* cmt

* standstill

* rm cmt

* flip
old-commit-hash: a19b5b91d2bcc0cd405599193828b9e9e187c52e
This commit is contained in:
Shane Smiskol
2022-11-24 19:17:36 -07:00
committed by GitHub
parent f2e0b35e9e
commit db8028fa63
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/lib/longcontrol.py
+3 -1
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@@ -10,12 +10,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
v_target_1sec, brake_pressed, cruise_standstill): v_target_1sec, brake_pressed, cruise_standstill):
# Ignore cruise standstill if car has a gas interceptor
cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
accelerating = v_target_1sec > v_target accelerating = v_target_1sec > v_target
planned_stop = (v_target < CP.vEgoStopping and planned_stop = (v_target < CP.vEgoStopping and
v_target_1sec < CP.vEgoStopping and v_target_1sec < CP.vEgoStopping and
not accelerating) not accelerating)
stay_stopped = (v_ego < CP.vEgoStopping and stay_stopped = (v_ego < CP.vEgoStopping and
(brake_pressed or cruise_standstill)) (brake_pressed or cruise_standstill))
stopping_condition = planned_stop or stay_stopped stopping_condition = planned_stop or stay_stopped
starting_condition = (v_target_1sec > CP.vEgoStarting and starting_condition = (v_target_1sec > CP.vEgoStarting and