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Long policy: less creepy #37755

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Long policy: less creepy #37755

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6 changes: 2 additions & 4 deletions selfdrive/controls/lib/drive_helpers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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):
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@sshane sshane Apr 4, 2026 •
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Here it was creeping at 0.3 m/s, not sure if this would catch it? https://connect.comma.ai/dffcf1de8723a20f/00000080--c8bd4bc6b4/507/534

Another example at 0.2 m/s https://connect.comma.ai/dffcf1de8723a20f/00000080--c8bd4bc6b4/559/579

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):
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