Remove minSpeedCan (#22991)

* Remove minCanSpeed

Remove minCanSpeed

* it actually only goes out to 2.5 seconds, this is okay to remove

* test to see if this preserves behavior

add minSpeedCan

* Revert "test to see if this preserves behavior"

This reverts commit 31b11f017f7e9da7654fc8064b5983d4a6cc22e5.

* preserve behavior (don't enter stopping as early)

* vEgoStopping needs to be less than or equal to vEgoStarting to avoid state oscillation

selfdrive/car/interfaces.py

@@ -82,7 +82,6 @@ class CarInterfaceBase():
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.openpilotLongitudinalControl = False
-    ret.minSpeedCan = 0.3
     ret.startAccel = -0.8
     ret.stopAccel = -2.0
     ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart

selfdrive/controls/lib/longcontrol.py

@@ -7,21 +7,17 @@ from selfdrive.modeld.constants import T_IDXS
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
-STOPPING_TARGET_SPEED_OFFSET = 0.01
-
 # As per ISO 15622:2018 for all speeds
 ACCEL_MIN_ISO = -3.5  # m/s^2
 ACCEL_MAX_ISO = 2.0  # m/s^2
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future, v_pid,
-                             output_accel, brake_pressed, cruise_standstill, min_speed_can):
+def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
+                             output_accel, brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
-  stopping_target_speed = min_speed_can + STOPPING_TARGET_SPEED_OFFSET
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
                        (v_ego < CP.vEgoStopping and
-                        ((v_pid < stopping_target_speed and v_target_future < stopping_target_speed) or
-                         brake_pressed))
+                        (v_target_future < CP.vEgoStopping or brake_pressed))
 
   starting_condition = v_target_future > CP.vEgoStarting and not cruise_standstill
 
@@ -91,8 +87,8 @@ class LongControl():
     # Update state machine
     output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target_future, self.v_pid, output_accel,
-                                                       CS.brakePressed, CS.cruiseState.standstill, CP.minSpeedCan)
+                                                       v_target_future, output_accel,
+                                                       CS.brakePressed, CS.cruiseState.standstill)
 
     if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.reset(CS.vEgo)
@@ -119,7 +115,6 @@ class LongControl():
       if not CS.standstill or output_accel > CP.stopAccel:
         output_accel -= CP.stoppingDecelRate * DT_CTRL
       output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-
       self.reset(CS.vEgo)
 
     # Intention is to move again, release brake fast before handing control to PID