  
        # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
        # when the leads are no factor.
        v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
        v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05)
        v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                   v_lower,
                                   v_upper)
        cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
        x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
 
</s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = self.cruise_max_a
 </s> add  </s> remove       self.params[:,0] = MIN_ACCEL
      self.params[:,1] = MAX_ACCEL

 </s> add  </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]
      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
  
        # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
        # when the leads are no factor.
        v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
      v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
        v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                   v_lower,
                                   v_upper)
        cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
        x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
keep keep keep keep 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