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Revert "long planner: allow throttle reflects usage (#33792)"

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This commit is contained in:
Jason Wen
2025-01-06 19:29:03 -05:00
parent b2b7d21b7b
commit c75244ca4e
1 changed files with 2 additions and 3 deletions
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5
selfdrive/controls/lib/longitudinal_planner.py
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@@ -150,10 +150,9 @@ class LongitudinalPlanner:
# Compute model v_ego error
self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
# 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 <= 5.0
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
if not self.allow_throttle:
if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep
# MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)