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GM: Auto-resume from stop-and-go #356

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@vntarasov vntarasov commented Sep 8, 2018

Through resetting ACC (stopping sending ACC commands until it gets out of standstill) mode and immediately resuming. No need to press resume button anymore!

Piggybacking on @Jamezz's work on smoother braking from #326.

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@Jamezz Jamezz commented Sep 8, 2018

Just verified this on my own branch. Works great!

@vntarasov vntarasov force-pushed the vntarasov:gm-auto-resume branch to 97f9714 Sep 8, 2018
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@vntarasov vntarasov commented Sep 8, 2018

auto-resume

@@ -133,12 +130,18 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
if (frame % 4) == 0:
idx = (frame / 4) % 4

at_full_stop = enabled and CS.standstill
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
car_stopping = apply_gas < P.ZERO_GAS

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@rbiasini

rbiasini Sep 9, 2018
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what happens if you are stopping uphill and apply_gas remains positive?

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@vntarasov

vntarasov Sep 9, 2018
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ah, didn't think of that (didn't test it on very steep hills)

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@Jamezz

Jamezz Sep 9, 2018

This is a fundamental issue with openpilot's interface design. The stopping intent is never passed up to an interface.

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@vntarasov

vntarasov Sep 10, 2018
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Another problem is that GM interface doesn't know if car is moving forward or backwards.

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@vntarasov vntarasov commented Sep 9, 2018

Will reopen when steep hill logic (stopping with positive gas) is figured out.

@vntarasov vntarasov closed this Sep 9, 2018
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3 participants