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Force Stop Tweak

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Ratched only down below 40m to prevent model jitter from overshooting
This commit is contained in:
whoisdomi
2026-08-24 09:06:05 -05:00
parent f006b47db3
commit f211be9357
2 changed files with 18 additions and 4 deletions
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selfdrive/controls/tests/test_starpilot_vcruise.py
+15 -3
View File
@@ -751,17 +751,29 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
def test_force_stop_reanchors_when_model_reopens_path_without_stop_action():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 40.0
vcruise.tracked_model_length = 10.0
planner.model_length = 90.0
vcruise.tracked_model_length = 60.0
sm = make_sm(standstill=False)
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
result = update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
assert vcruise.tracked_model_length == pytest.approx(40.0)
assert vcruise.tracked_model_length == pytest.approx(90.0)
assert result > 5.0
def test_force_stop_does_not_reanchor_inside_reanchor_floor():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 90.0
vcruise.tracked_model_length = 25.0
sm = make_sm(standstill=False)
sm["modelV2"] = SimpleNamespace(action=SimpleNamespace(shouldStop=False))
update_vcruise(vcruise, sm, make_toggles(), now=0.0, v_ego=1.5)
assert vcruise.tracked_model_length < 25.0
def test_force_stop_does_not_reanchor_committed_model_stop():
planner, vcruise = make_vcruise(red_light=False, raw_model_stopped=False, forcing_stop=True)
planner.model_length = 40.0
starpilot/controls/lib/starpilot_vcruise.py
+3 -1
View File
@@ -79,6 +79,8 @@ FORCE_STOP_TURN_VETO_STEERING_ANGLE = 25.0
FORCE_STOP_CURVE_VETO_MAX_ROAD_CURVATURE = 0.003
FORCE_STOP_TURN_VETO_STOP_SEEN_HOLD_TIME = 4.0
FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP = 3.0 # m — ignore small model-horizon noise
FORCE_STOP_REANCHOR_MIN_M = 40.0 # m — inside this only ratchet down; shouldStop doesn't
# assert until ~10 m, so horizon jitter would release the stop
# Knob bounds (mirror of UI slider; defense in depth)
OFFSET_FT_MIN = -20
@@ -660,7 +662,7 @@ class StarPilotVCruise:
model_wants_stop = False
if (
not dash_active and
self.tracked_model_length > force_stop_handoff_m and
self.tracked_model_length > max(force_stop_handoff_m, FORCE_STOP_REANCHOR_MIN_M) and
not model_wants_stop and
model_length > self.tracked_model_length + FORCE_STOP_DISTANCE_REANCHOR_MIN_GAP
):