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Speed Limit Assist: Update state machine for PCM long cars (#1311)

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* Speed Limit Assist: Update state machine for PCM long cars

* new test to catch this wrong transition

* tldr
This commit is contained in:
Jason Wen
2025-10-03 18:24:24 -04:00
committed by GitHub
parent e999839a57
commit 1e7fc15a04
2 changed files with 24 additions and 8 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+8 -6
View File
@@ -247,11 +247,11 @@ class SpeedLimitAssist:
# PENDING
elif self.state == SpeedLimitAssistState.pending:
if self._has_speed_limit:
if self.v_offset < LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.adapting
else:
self.state = SpeedLimitAssistState.active
if self.target_set_speed_confirmed:
self._update_confirmed_state()
elif self.speed_limit_changed:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
# PRE_ACTIVE
elif self.state == SpeedLimitAssistState.preActive:
@@ -275,9 +275,11 @@ class SpeedLimitAssist:
elif self.long_engaged_timer <= 0:
if self.target_set_speed_confirmed:
self._update_confirmed_state()
else:
elif self._has_speed_limit:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
else:
self.state = SpeedLimitAssistState.pending
enabled = self.state in ENABLED_STATES
active = self.state in ACTIVE_STATES
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+16 -2
View File
@@ -96,6 +96,12 @@ class TestSpeedLimitAssist:
assert self.sla.state == SpeedLimitAssistState.preActive
assert self.sla.is_enabled and not self.sla.is_active
def test_transition_disabled_to_pending_no_speed_limit_not_max_initial_set_speed(self):
for _ in range(int(3. / DT_MDL)):
self.sla.update(True, False, SPEED_LIMITS['highway'], 0, SPEED_LIMITS['city'], 0, 0, False, 0, self.events_sp)
assert self.sla.state == SpeedLimitAssistState.pending
assert self.sla.is_enabled and not self.sla.is_active
def test_preactive_to_active_with_max_speed_confirmation(self):
self.sla.state = SpeedLimitAssistState.preActive
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['highway'],
@@ -120,12 +126,20 @@ class TestSpeedLimitAssist:
def test_pending_to_active_when_speed_limit_available(self):
self.sla.state = SpeedLimitAssistState.pending
self.sla.update(True, False, SPEED_LIMITS['city'], 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
self.sla.update(True, False, SPEED_LIMITS['highway'], 0, self.pcm_long_max_set_speed,
SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
assert self.sla.state == SpeedLimitAssistState.active
def test_pending_to_adapting_when_below_speed_limit(self):
self.sla.state = SpeedLimitAssistState.pending
self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, self.pcm_long_max_set_speed, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
self.sla.v_cruise_cluster_prev = self.pcm_long_max_set_speed
self.sla.prev_v_cruise_cluster_conv = round(self.pcm_long_max_set_speed * self.speed_conv)
self.sla.update(True, False, SPEED_LIMITS['highway'] + 5, 0, self.pcm_long_max_set_speed,
SPEED_LIMITS['highway'], SPEED_LIMITS['highway'], True, 0, self.events_sp)
assert self.sla.state == SpeedLimitAssistState.adapting
assert self.sla.is_enabled and self.sla.is_active