More conservative braking in city for 1 and 2 bar distance

Author: NeonGalaxy75

selfdrive/controls/lib/planner.py

@@ -256,9 +256,9 @@ def update(self, CS, lead, v_cruise_setpoint):
     if CS.readdistancelines == 1:
       # If one bar distance, auto set to 2 bar distance under current conditions to prevent rear ending lead car
       if self.street_speed and (self.lead_car_gap_shrinking or self.tailgating):
-        TR=2.0
+        TR=2.1
         if self.lastTR != 0:
-          self.libmpc.init(MPC_COST_LONG.TTC, 0.0875, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
+          self.libmpc.init(MPC_COST_LONG.TTC, 0.0825, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
           self.lastTR = 0
       else:
         TR=0.9 # 10m at 40km/hr
@@ -267,10 +267,17 @@ def update(self, CS, lead, v_cruise_setpoint):
           self.lastTR = CS.readdistancelines  
 
     elif CS.readdistancelines == 2:
-      TR=1.8 # 20m at 40km/hr
-      if CS.readdistancelines != self.lastTR:
-        self.libmpc.init(MPC_COST_LONG.TTC, 0.1, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
-        self.lastTR = CS.readdistancelines  
+      # More conservative braking than comma default
+      if self.street_speed and (self.lead_car_gap_shrinking or self.tailgating):
+        TR=2.0
+        if self.lastTR != 0:
+          self.libmpc.init(MPC_COST_LONG.TTC, 0.0875, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
+          self.lastTR = 0
+      else:
+        TR=1.8 # 20m at 40km/hr
+        if CS.readdistancelines != self.lastTR:
+          self.libmpc.init(MPC_COST_LONG.TTC, 0.1, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
+          self.lastTR = CS.readdistancelines  
 
     elif CS.readdistancelines == 3:
       TR=2.7 # 30m at 40km/hr