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should_stop: less creepy

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Bruce Wayne
2026-04-01 14:24:53 -07:00
committed by Jason Wen
parent fa329eb9ff
commit 74d6636d72
1 changed files with 2 additions and 4 deletions
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6
selfdrive/controls/lib/drive_helpers.py
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@@ -39,19 +39,17 @@ def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, b
return float(new_curvature), limited_accel or limited_max_curv
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.1):
if len(speeds) == len(t_idxs):
v_now = speeds[0]
a_now = accels[0]
v_target = np.interp(action_t, t_idxs, speeds)
a_target = 2 * (v_target - v_now) / (action_t) - a_now
v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
else:
v_target = 0.0
v_target_1sec = 0.0
a_target = 0.0
should_stop = (v_target < vEgoStopping and
v_target_1sec < vEgoStopping)
a_target < 0.2) # even teslas cannot a<0.2 when starting from stop
return a_target, should_stop
def curv_from_psis(psi_target, psi_rate, vego, action_t):