longitudinal: only apply overshoot prevention when braking (#22986)

* only if braking is desired

* use v_target to determine stopping

* more clear?

selfdrive/controls/lib/longcontrol.py

@@ -107,7 +107,7 @@ class LongControl():
 
       # Toyota starts braking more when it thinks you want to stop
       # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7
+      prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < v_target
       deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV)
       freeze_integrator = prevent_overshoot