controls: use common car interface acceleration limits (#29184)

* Duplicate Accel param

using interfaces accel param

* revert brand accel value

* import error

* sort

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -7,6 +7,7 @@ from common.numpy_fast import clip
 from system.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from selfdrive.modeld.constants import index_function
+from selfdrive.car.interfaces import ACCEL_MIN
 from selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
@@ -52,8 +53,6 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1
 T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
-MIN_ACCEL = -3.5
-MAX_ACCEL = 2.0
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 
@@ -316,7 +315,7 @@ class LongitudinalMpc:
 
     # 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) / (-MIN_ACCEL * 2)
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 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.)
@@ -343,7 +342,7 @@ class LongitudinalMpc:
     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] = MIN_ACCEL
+    self.params[:,0] = ACCEL_MIN
     self.params[:,1] = self.max_a
 
     # Update in ACC mode or ACC/e2e blend

selfdrive/controls/lib/longitudinal_planner.py

@@ -10,8 +10,9 @@ from common.conversions import Conversions as CV
 from common.filter_simple import FirstOrderFilter
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
+from selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from selfdrive.controls.lib.longcontrol import LongCtrlState
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from system.swaglog import cloudlog
@@ -110,8 +111,8 @@ class LongitudinalPlanner:
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
-      accel_limits = [MIN_ACCEL, MAX_ACCEL]
-      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL]
+      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego