long mpc

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-34fe9e8a-DEBUG";
+const uint8_t gitversion[19] = "DEV-6099e109-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-34fe9e8a-DEBUG
+DEV-6099e109-DEBUG

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -497,10 +497,9 @@ class LongitudinalMpc:
       a_lead = 0.0
       a_lead_tau = LEAD_ACCEL_TAU
 
-    # MPC will not converge if immediate crash is expected
-    # Clip lead distance using the currently active vehicle decel capability.
-    min_decel = min(float(self.cruise_min_a), -0.1)
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-min_decel * 2)
+    # MPC will not converge if immediate crash is expected.
+    # Bound this by physical hard-brake capability, not cruise comfort decel.
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = np.clip(x_lead, min_x_lead, 1e8)
     v_lead = np.clip(v_lead, 0.0, 1e8)
     a_lead = np.clip(a_lead, -10., 5.)
@@ -534,7 +533,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = self.cruise_min_a
+    self.params[:,0] = ACCEL_MIN
     self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend