Add green-light launch - #38304
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Process replay diff reportReplays driving segments through this PR and compares the behavior to master. ✅ 0 changed, 66 passed, 0 errors |
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This is all pretty ugly. If this works well, let's think about how to make better model outputs to achieve the same thing in a cleaner way. |
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This PR has had no activity for 24 days. It will be automatically closed in 7 days if there is no activity. |
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openpilot is slow to accelerate at green lights. The model typically detects the light change but accelerates extremely slowly. This PR cuts off the acceleration creep.
If the car has recently been standstill and not yet passed 2m/s, we shift the models plan to the first point where it plans to be >1.2m/s.