Longcontrol: remove starting state (#23328)

* remove starting state

* new ref

* ready for merge

* try this

* cereal now on master

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4
+Subproject commit 70aeecf0930376a9da236b6f274941488e593063

selfdrive/car/honda/carcontroller.py

@@ -168,7 +168,6 @@ class CarController():
       lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
     stopping = actuators.longControlState == LongCtrlState.stopping
-    starting = actuators.longControlState == LongCtrlState.starting
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -218,7 +217,7 @@ class CarController():
         if CS.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, starting, CS.CP.carFingerprint))
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))

selfdrive/car/honda/hondacan.py

@@ -43,7 +43,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -53,7 +53,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, star
   accel_command = accel if active else 0
   braking = 1 if active and accel < min_gas_accel else 0
   standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and starting else 0
+  standstill_release = 1 if active and not stopping else 0
 
   acc_control_values = {
     # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1

selfdrive/car/hyundai/interface.py

@@ -41,7 +41,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
     ret.stopAccel = 0.0
-    ret.startAccel = 0.0
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 

selfdrive/car/interfaces.py

@@ -84,9 +84,7 @@ class CarInterfaceBase(ABC):
     ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.openpilotLongitudinalControl = False
-    ret.startAccel = -0.8
     ret.stopAccel = -2.0
-    ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
     ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5  # needs to be >= vEgoStopping to avoid state transition oscillation

selfdrive/car/tesla/interface.py

@@ -25,7 +25,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [0]
     ret.longitudinalTuning.kiV = [0]
     ret.stopAccel = 0.0
-    ret.startAccel = 0.0
     ret.longitudinalActuatorDelayUpperBound = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 

selfdrive/car/toyota/interface.py

@@ -247,7 +247,6 @@ class CarInterface(CarInterfaceBase):
     elif candidate in TSS2_CAR:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-      ret.startingAccelRate = 6.0  # release brakes fast
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
 

selfdrive/controls/lib/longcontrol.py

@@ -13,7 +13,7 @@ ACCEL_MAX_ISO = 2.0  # m/s^2
 
 
 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_future,
-                             output_accel, brake_pressed, cruise_standstill):
+                             brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
                        (v_ego < CP.vEgoStopping and
@@ -35,12 +35,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target_fut
 
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition:
-        long_control_state = LongCtrlState.starting
-
-    elif long_control_state == LongCtrlState.starting:
-      if stopping_condition:
-        long_control_state = LongCtrlState.stopping
-      elif output_accel >= CP.startAccel:
         long_control_state = LongCtrlState.pid
 
   return long_control_state
@@ -88,8 +82,8 @@ class LongControl():
     # Update state machine
     output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target_future, output_accel,
+                                                       v_target_future, CS.brakePressed,
-                                                       CS.brakePressed, CS.cruiseState.standstill)
+                                                       CS.cruiseState.standstill)
 
     if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.reset(CS.vEgo)
@@ -118,12 +112,6 @@ class LongControl():
       output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
       self.reset(CS.vEgo)
 
-    # Intention is to move again, release brake fast before handing control to PID
-    elif self.long_control_state == LongCtrlState.starting:
-      if output_accel < CP.startAccel:
-        output_accel += CP.startingAccelRate * DT_CTRL
-      self.reset(CS.vEgo)
-
     self.last_output_accel = output_accel
     final_accel = clip(output_accel, accel_limits[0], accel_limits[1])
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-e0ac3ca09baaf0d791d0e7734799bb297ad91f79
+05ebb83207d2c949ee70702e4ec4568f872c6054