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long planner: Min(stopping) is also important (#37074)

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Min(stopping) is also important
This commit is contained in:
Harald Schäfer
2026-02-03 15:55:13 -08:00
committed by GitHub
parent 54cf8d6a5e
commit ee7601ae9d
1 changed files with 5 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+5 -4
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@@ -152,10 +152,11 @@ class LongitudinalPlanner:
output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
output_should_stop_e2e = sm['modelV2'].action.shouldStop
if (output_a_target_e2e < output_a_target_mpc) and sm['selfdriveState'].experimentalMode:
output_a_target = output_a_target_e2e
self.output_should_stop = output_should_stop_e2e
self.mpc.source = SOURCES[3]
if sm['selfdriveState'].experimentalMode:
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
if output_a_target < output_a_target_mpc:
self.mpc.source = SOURCES[3]
else:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc