Use meters for Global ACC Close_Distance

commaai · May 7, 2022 · ec42568 · ec42568
1 parent 3c13b74
commit ec42568
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
@@ -55,8 +55,8 @@ def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_lin
       if (enabled                                            # ACC active
           and CS.car_follow == 1                             # lead car
           and CS.out.standstill                              # must be standing still
-          and CS.close_distance > 3                          # acc resume trigger threshold
-          and CS.close_distance < 4.5                        # max operating distance to filter false positives
+          and CS.close_distance > 3                          # acc resume min trigger threshold (m)
+          and CS.close_distance < 4.5                        # acc resume max trigger threshold (m)
           and CS.close_distance > self.prev_close_distance): # distance with lead car is increasing
         self.sng_acc_resume = True
     elif CS.CP.carFingerprint not in PREGLOBAL_CARS:
@@ -71,8 +71,8 @@ def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_lin
           and CS.car_follow == 1                             # lead car
           and CS.cruise_state == 3                           # ACC HOLD (only with EPB)
           and CS.out.standstill                              # must be standing still
-          and CS.close_distance > 150                        # acc resume trigger threshold
-          and CS.close_distance < 255                        # ignore max value
+          and CS.close_distance > 3                          # acc resume min trigger threshold (m)
+          and CS.close_distance < 4.5                        # acc resume max trigger threshold (m)
           and CS.close_distance > self.prev_close_distance): # distance with lead car is increasing
         self.sng_acc_resume = True
       self.prev_cruise_state = CS.cruise_state