adaptive cruise will be forcefully disengaged after 3 minutes of standstill on Toyota

Describe the bug With openpilot’s current standstill, ACC will be forcefully disengaged by the car after exactly 3 minutes if the front car doesn’t move. In this situation, the car will be shifted to park. This is a potential problem for comma pedal users as comma pedal users tend to not move the cruise control lever when the car is stopped, if the front car doesn’t move due to heavy traffic, the car will be shifted to P

How to reproduce or log data Stop behind a completely stationary car in a Toyota hybrid vehicle, after 3 minutes with no movements, ACC will be forcefully disengaged and the car shifted to P.

Expected behavior Enter the “Waiting” mode (seems to be related to CRUISE_CONTROL_STATE 11 in PCM_CRUISE_SM) instead of the current “operate cruise lever or accelerator pedal to resume” mode. openpilot issues a warning to let user take control before this occurs.

Device/Version information (please complete the following information):

• Device: comma two
• Dongle ID: 399b1cca765e80b4
• Route: 399b1cca765e80b4|2020-12-09–11-54-59
• Timestamp: the final disengagement in this route
• Version: 0.8.1
• Car make/model: Toyota Prius 2018

Additional context With openpilot’s standstill logic, the car’s dash will immediately display a “operate cruise lever or accelerator pedal to resume” message upon entering standstill, while the stock system will display the “waiting” message and only display “operate cruise lever or accelerator pedal to resume” after the front car has moved, which doesn’t seem to trigger this lock-out. okay waiting triggers this as well, so I am thinking openpilot can issue a warning on the screen after about 2 and a half minute so the user can push the lever manually to avoid this.

[cydia2020]

Could you do one test? carcontroller.py try to comment out lines 92, 93 , reboot and try. Will it still go into P in 3 minutes?

No, but this is more or less expected since the car doesn’t go into standstill

And energy will keep flowing from the battery.

[adeebshihadeh]

I think we’d possibly accept this if you found a signal over CAN that indicates this, but I don’t think we want to add an alert based on a timer.