Add comment about vEgoStarting to interfaces (#23327)

3 years ago · 0148b233cd
parent 9295066dac
commit 0148b233cd
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -89,7 +89,7 @@ class CarInterfaceBase(ABC):
    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
+    ret.vEgoStarting = 0.5  # needs to be >= vEgoStopping to avoid state transition oscillation
    ret.stoppingControl = True
    ret.longitudinalTuning.deadzoneBP = [0.]
    ret.longitudinalTuning.deadzoneV = [0.]