Use pedal braking limits in m/s breakpoints

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -495,8 +495,9 @@ def process_lead(self, lead, tracking_lead=True):
       a_lead_tau = LEAD_ACCEL_TAU
 
     # MPC will not converge if immediate crash is expected
-    # Clip lead distance to what is still possible to brake for
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
+    # Clip lead distance to what is still possible to brake for using the current decel limit
+    decel_capable = max(-self.cruise_min_a, 0.1)
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (decel_capable * 2)
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
@@ -527,7 +528,7 @@ def update(self, lead_one, lead_two, v_cruise, x, v, a, j, t_follow, tracking_le
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = ACCEL_MIN
+    self.params[:,0] = self.cruise_min_a
     # negative accel constraint causes problems because negative speed is not allowed
     self.params[:,1] = max(0.0, self.max_a)
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -18,6 +18,18 @@
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.0
+PEDAL_DECEL_BP = [
+  0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
+  16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
+  30, 31, 32, 33, 34,
+]
+PEDAL_DECEL_V = [
+  -1.379, -1.855, -2.167, -2.311, -2.411, -2.455, -2.493, -2.500, -2.500,
+  -2.530, -2.366, -2.151, -1.955, -1.839, -1.777, -1.741,
+  -1.705, -1.670, -1.652, -1.661, -1.679, -1.696, -1.696, -1.679,
+  -1.652, -1.634, -1.652, -1.670, -1.696, -1.696, -1.696, -1.598,
+  -1.518, -1.471, -1.4,
+]
 A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
 A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
@@ -54,6 +66,12 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+def get_min_accel(CP, v_ego):
+  if CP.enableGasInterceptor:
+    return float(interp(v_ego, PEDAL_DECEL_BP, PEDAL_DECEL_V))
+  return A_CRUISE_MIN
+
+
 def get_accel_from_plan_classic(CP, speeds, accels, vEgoStopping):
   if len(speeds) == CONTROL_N:
     v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
@@ -194,6 +212,7 @@ def update(self, tinygrad_model, sm, frogpilot_toggles):
       accel_coast = ACCEL_MAX
 
     v_ego = max(sm['carState'].vEgo, sm['carState'].vEgoCluster)
+    min_accel_limit = get_min_accel(self.CP, v_ego)
     v_cruise = sm['frogpilotPlan'].vCruise
     v_cruise_initialized = sm['controlsState'].vCruise != V_CRUISE_UNSET
 
@@ -210,6 +229,7 @@ def update(self, tinygrad_model, sm, frogpilot_toggles):
 
     if self.mpc.mode == 'acc':
       accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration]
+      accel_limits[0] = max(accel_limits[0], min_accel_limit)
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else: