        # These are not used in ACC mode
        x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
  
      elif self.mode == 'blended':
        self.params[:,0] = MIN_ACCEL
        self.params[:,1] = MAX_ACCEL
  
        self.params[:,5] = 1.0
  
        x_obstacles = np.column_stack([lead_0_obstacle,
                                       lead_1_obstacle])
        cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
 
</s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = self.cruise_max_a
 </s> add  </s> remove       v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05)
 </s> add       v_upper = v_ego + (T_IDXS * self.max_a * 1.05) </s> remove     accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
    accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
 </s> add     if self.mpc.mode == 'acc':
      accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
    else:
      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] </s> remove from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 </s> add from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
        # These are not used in ACC mode
        x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0
  
      elif self.mode == 'blended':



        self.params[:,5] = 1.0
  
        x_obstacles = np.column_stack([lead_0_obstacle,
                                       lead_1_obstacle])
        cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0]
keep keep keep keep replace replace replace keep keep keep keep keep
 Add force decel to e2e long (#26448)

* add force decel to e2e

* Update longitudinal_planner.py 
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py