Parametrize stoppingBrakeRate (#2745)

* Parametrize stoppingBrakeRate

* ref_commit updated
old-commit-hash: d3c2a0e6c1e898b08570dd0a9b1eef12934f6c9a

selfdrive/car/interfaces.py

@@ -72,6 +72,7 @@ class CarInterfaceBase():
     ret.openpilotLongitudinalControl = False
     ret.startAccel = 0.0
     ret.minSpeedCan = 0.3
+    ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
     ret.stoppingControl = False
     ret.longitudinalTuning.deadzoneBP = [0.]
     ret.longitudinalTuning.deadzoneV = [0.]

selfdrive/controls/lib/longcontrol.py

@@ -9,7 +9,6 @@ STOPPING_TARGET_SPEED_OFFSET = 0.01
 STARTING_TARGET_SPEED = 0.5
 BRAKE_THRESHOLD_TO_PID = 0.2
 
-STOPPING_BRAKE_RATE = 0.2  # brake_travel/s while trying to stop
 STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
 BRAKE_STOPPING_TARGET = 0.5  # apply at least this amount of brake to maintain the vehicle stationary
 
@@ -106,7 +105,7 @@ class LongControl():
     elif self.long_control_state == LongCtrlState.stopping:
       # Keep applying brakes until the car is stopped
       if not CS.standstill or output_gb > -BRAKE_STOPPING_TARGET:
-        output_gb -= STOPPING_BRAKE_RATE / RATE
+        output_gb -= CP.stoppingBrakeRate / RATE
       output_gb = clip(output_gb, -brake_max, gas_max)
 
       self.reset(CS.vEgo)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f60a1c8e24558c1470f9a240a12037579d62c2c1
+643db5a2a2555f9b9be755362b04fc346a1222de