feat(long): roomier stops + smoother decel

sunnypilot/selfdrive/controls/lib/accel_personality/accel_controller.py

@@ -17,7 +17,7 @@ from openpilot.sunnypilot import get_sanitize_int_param
 from openpilot.sunnypilot.selfdrive.controls.lib.accel_personality.constants import \
   NORMAL, PERSONALITY_MIN, PERSONALITY_MAX, A_CRUISE_MAX_BP, A_CRUISE_MAX_V, RISE_RATE, SMOOTH_DECEL_BP, \
   SMOOTH_DECEL_V, BRAKE_DEEPENING_JERK, BRAKE_RELEASE_JERK, ACCEL_RISE_JERK, SMOOTH_DECEL_LOOKAHEAD_T, \
-  MIN_SMOOTH_BRAKE_NEED, HARD_BRAKE_TARGET_ACCEL, HARD_BRAKE_NEED, \
+  MIN_SMOOTH_BRAKE_NEED, HARD_BRAKE_TARGET_ACCEL, HARD_BRAKE_NEED, STOP_APPROACH_VEGO, \
   ONSET_JERK0, ONSET_JERK_GAIN, ONSET_GAP_SOFT, ONSET_GAP_GAIN, ONSET_JERK_MAX, ONSET_HANDBACK_JERK, \
   SOFT_ONSET_MAX_BRAKE_NEED, SOFT_ONSET_MAX_INSTANT_ACCEL, SOFT_ONSET_REARM_FRAMES
 
@@ -90,6 +90,14 @@ class AccelController:
       self._reset_onset()
       return self._passthrough(raw_target_accel)
 
+    # Low-speed creep-to-stop: stand down (incl. the brake_need-driven front-load, which softens even
+    # when raw~0). Softening the final approach to a stopped lead makes the car brake less -> coast
+    # farther -> halt too close (~1.3 m). Hand full stock decel through so it stops at the proper gap.
+    # Onset shaping still applies above STOP_APPROACH_VEGO.
+    if self._v_ego < STOP_APPROACH_VEGO:
+      self._reset_onset()
+      return self._passthrough(raw_target_accel)
+
     if self._brake_need < MIN_SMOOTH_BRAKE_NEED:
       self._smooth_active = False
       slewed = self._slew(raw_target_accel)

sunnypilot/selfdrive/controls/lib/accel_personality/constants.py

@@ -47,6 +47,11 @@ MIN_SMOOTH_BRAKE_NEED = 0.2
 HARD_BRAKE_TARGET_ACCEL = -1.5
 HARD_BRAKE_NEED = 2.6
 
+# Below this ego speed the shaper stands down (full stock decel). Softening the creep-to-stop makes the
+# car brake less -> coast farther -> halt too close to a stopped lead (~1.3 m). Stock decel below this
+# speed stops at the proper gap; sub-3 m/s braking is gentle anyway. Onset shaping applies above it.
+STOP_APPROACH_VEGO = 3.0       # m/s
+
 # --- Convex brake-onset shaper (param-gated; ECO/SPORT only, NORMAL = stock passthrough) ---
 # The grabby bite is the raw MPC plan: stock deepening uses a CONSTANT jerk (integrates to a LINEAR
 # accel ramp) and min(slewed,raw) lets the deep raw plan win, so the bite passes through untouched.
@@ -58,7 +63,7 @@ HARD_BRAKE_NEED = 2.6
 # No velocity-debt feedback: it carried stale state across closely-spaced stop-and-go brakes and
 # over-braked the next onset (verified). NORMAL omitted -> shaper never runs.
 ONSET_JERK0 = {ECO: 0.15, SPORT: 0.25}        # m/s^3  initial gentle jerk at the bite (target band 0.15-0.25)
-ONSET_JERK_GAIN = {ECO: 1.2, SPORT: 2.0}      # 1/s    depth-proportional growth rate k (convex; bigger -> faster)
+ONSET_JERK_GAIN = {ECO: 0.9, SPORT: 1.5}      # 1/s    depth-proportional growth rate k (lowered: gentler jerk-build = smoother decel, less "jerky")
 
 # Bounded softening: the gentle bite lags the plan (brakes shallower) at the very start. To keep the
 # softening modest (so it never feels like "no brakes"), an INSTANTANEOUS-gap catch-up adds jerk when
@@ -67,11 +72,11 @@ ONSET_JERK_GAIN = {ECO: 1.2, SPORT: 2.0}      # 1/s    depth-proportional growth
 # softening then settles near ONSET_GAP_SOFT; the hard cap keeps the catch from ever being a grab.
 ONSET_GAP_SOFT = {ECO: 0.30, SPORT: 0.25}     # m/s^2  tolerated shallower-than-plan gap before catch-up
 ONSET_GAP_GAIN = {ECO: 4.0, SPORT: 5.0}       # 1/s    extra jerk per m/s^2 of gap beyond ONSET_GAP_SOFT
-ONSET_JERK_MAX = {ECO: 1.4, SPORT: 1.8}       # m/s^3  hard ceiling on convex-path jerk while still armed/gentle
+ONSET_JERK_MAX = {ECO: 1.1, SPORT: 1.4}       # m/s^3  hard ceiling on convex-path jerk (lowered: smoother catch-up)
 # Fast hand-back: once the plan leaves the gentle zone (no longer armed) but a soft gap is still open,
 # close it at this FIRM jerk so the output catches the plan BEFORE braking gets firm -> no late-brake lag
 # into the [-1.5,-1.0] band. Jerk-limited (not a snap), and never deeper than the plan, so not a grab.
-ONSET_HANDBACK_JERK = {ECO: 3.0, SPORT: 4.0}  # m/s^3  gap-close rate when the plan has firmed past the gentle zone
+ONSET_HANDBACK_JERK = {ECO: 2.2, SPORT: 3.0}  # m/s^3  gap-close rate (lowered: gentler hand-back = less jounce/jerk)
 
 # Arm gates (conservative). Only shape genuinely gentle onsets; firm/deep onsets fall to the stock
 # never-weaker slew (they SHOULD bite). Two independent safety layers against late braking: (1) the

sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py

@@ -107,6 +107,19 @@ def test_early_soft_braking_brakes_before_plan():
   assert ctrl.brake_need() == pytest.approx(1.0)
 
 
+def test_low_speed_stop_approach_stands_down():
+  # Below STOP_APPROACH_VEGO the shaper must NOT soften the creep-to-stop (softening -> coast farther ->
+  # halt too close). Full stock decel passes through; onset shaping re-engages above the threshold.
+  ctrl = make_controller(personality=ECO)
+  ctrl.update({'carState': SimpleNamespace(vEgo=2.0)})
+  out = ctrl.smooth_target_accel(-0.1, flat_traj(-1.0), T_IDXS, should_stop=False)
+  assert not ctrl.smooth_active()
+  assert out == pytest.approx(-0.1, abs=_EPS)             # stock passthrough, no front-load softening
+  ctrl.update({'carState': SimpleNamespace(vEgo=8.0)})
+  ctrl.smooth_target_accel(-0.1, flat_traj(-1.0), T_IDXS, should_stop=False)
+  assert ctrl.smooth_active()                             # onset shaping still active above the threshold
+
+
 @pytest.mark.parametrize("personality", [ECO, NORMAL, SPORT])
 def test_never_weaker_than_plan_sustained_closing(personality):
   # NORMAL/off: strict never-weaker (route 000003da regression guard). ECO/SPORT: the convex onset may