From d4fef82f74a3e2bd9f809e731ff4f9c2af8e690e Mon Sep 17 00:00:00 2001 From: David Abrahams Date: Thu, 30 Aug 2018 16:20:06 +0000 Subject: [PATCH] Prevent runaway acceleration --- selfdrive/car/tesla/ACC_module.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/ACC_module.py b/selfdrive/car/tesla/ACC_module.py index 4c77e39d037199..f9d3714f68fc21 100644 --- a/selfdrive/car/tesla/ACC_module.py +++ b/selfdrive/car/tesla/ACC_module.py @@ -217,6 +217,8 @@ def calc_op_button(self, CS, pcm_speed, current_time_ms): return button_to_press def should_autoengage_cc(self, CS, current_time_ms): + # In auto-resume mode, we must not to engage during deceleration other than + # during the first moment after ACC was engaged. autoresume_supressed_by_braking = ( self.autoresume and CS.a_ego < 0 @@ -267,7 +269,7 @@ def calc_follow_button(self, CS): # if cruise is set to faster than the max speed, slow down if CS.v_cruise_actual > self.acc_speed_kph: msg = "Slow to max" - button = CruiseButtons.RES_ACCEL + button = CruiseButtons.DECEL_SET # If lead_dist is reported as 0, no one is detected in front of you so you # can speed up don't speed up when steer-angle > 2; vision radar often # loses lead car in a turn.