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StarPilot/openpilot/starpilot/longitudinal/tests/testdata/hkg_dom_stop_buffer.json
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{
"domCommit": "823a5d5674ec6635b51dd989884dfbd661f90dc4",
"sourceFunction": "def get_vision_low_speed_stop_buffer_cap(self, lead, v_ego, accel_min):\n if lead is None or not lead.status or bool(getattr(lead, \"radar\", False)):\n return None, False\n\n lead_prob = float(getattr(lead, \"modelProb\", 0.0))\n if lead_prob < VISION_LOW_SPEED_STOP_BUFFER_MIN_MODEL_PROB:\n return None, False\n\n lead_speed = max(float(lead.vLead), 0.0)\n relative_speed = float(v_ego) - lead_speed\n max_lead_speed, hold_max_lead_speed = get_vision_low_speed_stop_buffer_lead_speed_limits(\n self.CP,\n VISION_LOW_SPEED_STOP_BUFFER_MAX_LEAD_SPEED,\n VISION_LOW_SPEED_STOP_BUFFER_HOLD_MAX_LEAD_SPEED,\n )\n closing_speed = max(0.0, v_ego - lead_speed)\n entry_context = (\n v_ego <= VISION_LOW_SPEED_STOP_BUFFER_MAX_EGO_SPEED and\n lead_speed <= max_lead_speed and\n closing_speed >= VISION_LOW_SPEED_STOP_BUFFER_MIN_CLOSING_SPEED\n )\n hold_context = (\n v_ego <= VISION_LOW_SPEED_STOP_BUFFER_MAX_EGO_SPEED and\n lead_speed <= hold_max_lead_speed and\n relative_speed >= VISION_LOW_SPEED_STOP_BUFFER_MIN_HOLD_REL_SPEED\n )\n\n now_t = time.monotonic()\n entry_buffer = max(3.2, VISION_LOW_SPEED_STOP_BUFFER_BASE +\n VISION_LOW_SPEED_STOP_BUFFER_EGO_GAIN * float(v_ego) +\n VISION_LOW_SPEED_STOP_BUFFER_LEAD_GAIN * lead_speed)\n release_buffer = entry_buffer + VISION_LOW_SPEED_STOP_BUFFER_RELEASE_MARGIN\n if entry_context and float(lead.dRel) <= entry_buffer:\n self.vision_low_speed_stop_hold_until = now_t + VISION_LOW_SPEED_STOP_BUFFER_HOLD_TIME\n\n latched = now_t < self.vision_low_speed_stop_hold_until\n active = bool(\n (entry_context and float(lead.dRel) <= entry_buffer) or\n (latched and hold_context and float(lead.dRel) <= release_buffer)\n )\n if not active:\n return None, False\n\n min_stop_brake = VISION_LOW_SPEED_STOP_BUFFER_MIN_BRAKE + VISION_LOW_SPEED_STOP_BUFFER_BRAKE_GAIN * float(v_ego)\n return max(accel_min, -min_stop_brake), True",
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"VISION_LOW_SPEED_STOP_BUFFER_HOLD_TIME": 0.8,
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