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longitudinal planner: remove unused model trajectory parsing (#38336)

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This commit is contained in:
Adeeb Shihadeh
2026-07-14 16:01:45 -07:00
committed by GitHub
parent 4fd4ddb438
commit f42dbbb01c
1 changed files with 2 additions and 21 deletions
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openpilot/selfdrive/controls/lib/longitudinal_planner.py
+2 -21
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@@ -63,26 +63,6 @@ class LongitudinalPlanner:
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
@staticmethod
def parse_model(model_msg):
if (len(model_msg.position.x) == ModelConstants.IDX_N and
len(model_msg.velocity.x) == ModelConstants.IDX_N and
len(model_msg.acceleration.x) == ModelConstants.IDX_N):
x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x)
v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x)
a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
j = np.zeros(len(T_IDXS_MPC))
else:
x = np.zeros(len(T_IDXS_MPC))
v = np.zeros(len(T_IDXS_MPC))
a = np.zeros(len(T_IDXS_MPC))
j = np.zeros(len(T_IDXS_MPC))
if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1:
throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
else:
throttle_prob = 1.0
return x, v, a, j, throttle_prob
def update(self, sm):
if len(sm['carControl'].orientationNED) == 3:
accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -116,7 +96,8 @@ class LongitudinalPlanner:
# Prevent divergence, smooth in current v_ego
self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
_, _, _, _, throttle_prob = self.parse_model(sm['modelV2'])
throttle_probs = sm['modelV2'].meta.disengagePredictions.gasPressProbs
throttle_prob = throttle_probs[1] if len(throttle_probs) > 1 else 1.0
# Don't clip at low speeds since throttle_prob doesn't account for creep
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED