safer low speed (#21705)

old-commit-hash: 4bd4ed4999ef86824ef2d3a9dfa86ba61ae24b4f

selfdrive/controls/lib/lead_mpc.py

@@ -95,7 +95,7 @@ class LeadMpc():
     # Reset if NaN or goes through lead car
     crashing = any(lead - ego < -50 for (lead, ego) in zip(self.mpc_solution[0].x_l, self.mpc_solution[0].x_ego))
     nans = any(math.isnan(x) for x in self.mpc_solution[0].v_ego)
-    backwards = min(self.mpc_solution[0].v_ego) < -0.01
+    backwards = min(self.mpc_solution[0].v_ego) < -0.15
 
     if ((backwards or crashing) and self.prev_lead_status) or nans:
       if t > self.last_cloudlog_t + 5.0:

selfdrive/controls/lib/lead_mpc_lib/generator.cpp

@@ -69,7 +69,7 @@ int main( )
   ocp.minimizeLSQ(Q, h);
   ocp.minimizeLSQEndTerm(QN, hN);
 
-  ocp.subjectTo( 0.0 <= v_ego);
+  ocp.subjectTo( -0.1 <= v_ego);
   ocp.setNOD(2);
 
   OCPexport mpc(ocp);

selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/acado_solver.c

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a0628f3d3f8287d3c8807edbeb918e50e11e52cbae6dd3e5f42ab849f96385a3
-size 349063
+oid sha256:24cce37a8698d0553f39cc95491a0bdcff8c0462f05ddfc9e41ef7d1d4a198d5
+size 349703

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f2bad42b2f22dc4f2843c5697f5444f0fb4af175
+b13f5e632814c6ebb159a325331fd74da3a68066