From 4b13a58a93a8a47d32b65cc3502845634df20f80 Mon Sep 17 00:00:00 2001 From: eFini Date: Mon, 18 May 2020 17:02:55 +1000 Subject: [PATCH] use constant max speed limit (#1521) --- selfdrive/car/interfaces.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 65a302000d..ca83cabb7d 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -7,9 +7,11 @@ from selfdrive.car import gen_empty_fingerprint from selfdrive.config import Conversions as CV from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName +MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 144 + 4 = 92 mph # generic car and radar interfaces @@ -102,7 +104,7 @@ class CarInterfaceBase(): events.add(EventName.stockFcw) if cs_out.stockAeb: events.add(EventName.stockAeb) - if cs_out.vEgo > 92 * CV.MPH_TO_MS: + if cs_out.vEgo > MAX_CTRL_SPEED: events.add(EventName.speedTooHigh) if cs_out.steerError: