OP Long creeping with lead car stopped

[redacid95]

Describe the bug

When lead car comes to a stop, OP seems to react and come to a stop, but then start to creep forward even when lead car doesn't move. This happens almost every complete stop, regardless of the scene.

What hardware does this issue affect?

comma three

Provide a route where the issue occurs

f1055ddb93ff2d3b|2022-02-28--17-15-08--9

openpilot version

49eb4fb

Additional info

Additionally, I am on OP long on Honda Bosch. I understand this is experimental, so let me know if this is something that should be resolved with E2E.

I can also get more segments if required.

It appeared that this was being looked into here, however I tried these changes and still experienced the issue. #23838

[sshane]

It looks like the car just overshot the desired acceleration when it was reducing it coming to a stop, you can see the planner correctly commanding a stop. Integral was also wound up a bit, and proportional didn't have enough gain to command enough brake quick enough.

[pd0wm]

The issue could also come from vision only longitudinal, the lead distances/speeds aren't always self consistent for stopped cars. Closing this issue since it's not expected to work right now.