Do not allow engagement outside of training distribution (#20112)

* higher is out of the training distribution

* Update RELEASES.md

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a0cdacbb2a

RELEASES.md

@@ -3,6 +3,7 @@ Version 0.8.2 (2021-XX-XX)
  * Use model points directly in MPC (no more polyfits), this makes lateral planning more accurate
  * Use model heading prediction for smoother lateral control
  * Smarter actuator delay compensation
+ * Adjust maximum engagement speed to better fit the model's training distribution
  * Audi A3 2015 support thanks to keeleysam!
  * Lexus ES Hybrid 2018 support thanks to TheInventorMan!
  * Toyota Camry Hybrid 2021 support thanks to alancyau!

selfdrive/car/interfaces.py

@@ -13,7 +13,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
-MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 144 + 4 = 92 mph
+MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
 
 # generic car and radar interfaces
 

selfdrive/controls/lib/drive_helpers.py

@@ -3,7 +3,7 @@ from selfdrive.config import Conversions as CV
 from cereal import car
 
 # kph
-V_CRUISE_MAX = 144
+V_CRUISE_MAX = 135
 V_CRUISE_MIN = 8
 V_CRUISE_DELTA = 8
 V_CRUISE_ENABLE_MIN = 40