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control: gate accel shaping by DEC policy

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This commit is contained in:
rav4kumar
2026-09-08 06:45:25 -07:00
parent 385f762a21
commit 34fe536300
3 changed files with 22 additions and 4 deletions
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openpilot/selfdrive/controls/lib/longitudinal_planner.py
+3 -1
View File
@@ -145,8 +145,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
is_e2e = self.is_e2e(sm)
experimental_mode = sm['selfdriveState'].experimentalMode
dec_acc_policy = experimental_mode and self.dec.active() and self.dec.mode() == "acc"
max_accel_override = self.get_max_accel_override(v_ego)
v_cruise = self.get_cruise_target_override(v_ego, v_cruise, force_decel)
v_cruise = self.get_cruise_target_override(v_ego, v_cruise, force_decel, experimental_mode, dec_acc_policy)
a_cruise_prev = self.a_cruise
gated_cruise = get_cruise_accel(is_e2e, v_cruise, v_ego, a_cruise_prev, steer_angle_without_offset,
self.CP, self.dt, accel_coast, self.allow_throttle, max_accel_override)
openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py
+14 -1
View File
@@ -259,7 +259,20 @@ class TestPlannerIntegration(OpenpilotTestCase):
planner.source = LongitudinalPlanSource.cruise
assert planner.get_cruise_target_override(25.0, 0.0, force_decel=True) == 0.0
def test_e2e_candidate_is_held_through_a_brake_but_not_otherwise(self):
def test_cruise_target_override_follows_dec_policy(self):
self.params.put_bool("AccelPersonalityEnabled", True, block=True)
planner = _bare_planner()
# Experimental/model mode bypasses accel-personality braking unless DEC explicitly selects ACC policy.
assert planner.get_cruise_target_override(25.0, 22.5, force_decel=False, experimental_mode=True) == 22.5
shaped = planner.get_cruise_target_override(25.0, 22.5, force_decel=False,
experimental_mode=True, dec_acc_policy=True)
assert 22.5 < shaped < 25.0
# Normal mode retains the existing accel-personality behavior.
shaped = planner.get_cruise_target_override(25.0, 22.5, force_decel=False, experimental_mode=False)
assert 22.5 < shaped < 25.0
# Route 000005dd: e2e -> lead1 stepped +2.25 m/s^2 in one frame (45 m/s^3) and back the next, while the
# model held desiredAcceleration at -1.63 and never moved more than 0.024. Dropping a candidate the model
# still owns is what produced the brake/gas/brake flip.
openpilot/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+5 -2
View File
@@ -64,8 +64,11 @@ class LongitudinalPlannerSP:
return self.accel_controller.get_max_accel(v_ego)
def get_cruise_target_override(self, v_ego: float, v_target: float, force_decel: bool) -> float:
if not self.accel_controller.is_enabled() or force_decel or self.source != LongitudinalPlanSource.cruise:
def get_cruise_target_override(self, v_ego: float, v_target: float, force_decel: bool,
experimental_mode: bool = False, dec_acc_policy: bool = False) -> float:
# Experimental/model mode owns braking unless DEC explicitly selects its ACC policy.
if ((experimental_mode and not dec_acc_policy) or not self.accel_controller.is_enabled()
or force_decel or self.source != LongitudinalPlanSource.cruise):
return v_target
return self.accel_controller.get_cruise_target(v_ego, v_target)