Toyota: set permit braking when stopping (#1447)

* we need to brake when stopping always

* stopping

opendbc/car/toyota/carcontroller.py

@@ -56,6 +56,7 @@ def __init__(self, dbc_name, CP):
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
+    stopping = actuators.longControlState == LongCtrlState.stopping
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
@@ -155,7 +156,7 @@ def update(self, CC, CS, now_nanos):
 
       # let PCM handle stopping for now
       pcm_accel_compensation = 0.0
-      if actuators.longControlState != LongCtrlState.stopping:
+      if not stopping:
         pcm_accel_compensation = 2.0 * (CS.pcm_accel_net - net_acceleration_request)
 
       # prevent compensation windup
@@ -167,7 +168,7 @@ def update(self, CC, CS, now_nanos):
 
       # Along with rate limiting positive jerk below, this greatly improves gas response time
       # Consider the net acceleration request that the PCM should be applying (pitch included)
-      if net_acceleration_request < 0.1:
+      if net_acceleration_request < 0.1 or stopping:
         self.permit_braking = True
       elif net_acceleration_request > 0.2:
         self.permit_braking = False