UI is now accurate

commaai · Oct 15, 2024 · 4e595fc · 4e595fc
1 parent 9674c7b
commit 4e595fc
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -146,9 +146,10 @@ def update(self, sm):
  # 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)
- self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+ # 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
 
- if not self.allow_throttle and v_ego > 5.0: # Don't clip at low speeds since throttle_prob doesn't account for creep
+ if not self.allow_throttle:
  # 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)