brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Draw adjacent paths in onroad UI

Browse Source 
Added toggle to draw the adjacent paths in the onroad UI to visualize what other lanes the model sees.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 44fc5c1f30
commit 0a675d40aa
8 changed files with 64 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
selfdrive/frogpilot/functions/frogpilot_planner.py
View File

@@ -57,7 +57,7 @@ class FrogPilotPlanner:
self.cem.update(carState, enabled, sm['frogpilotNavigation'], modelData, sm['radarState'], self.road_curvature, self.stop_distance, mpc.t_follow, v_ego)
# Update the current lane widths
check_lane_width = self.blind_spot_path
check_lane_width = self.adjacent_lanes or self.blind_spot_path
if check_lane_width and v_ego >= LANE_CHANGE_SPEED_MIN:
self.lane_width_left = float(self.fpf.calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]))
self.lane_width_right = float(self.fpf.calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1]))
@@ -121,6 +121,7 @@ class FrogPilotPlanner:
self.relaxed_jerk = params.get_float("RelaxedJerk")
custom_ui = params.get_bool("CustomUI")
self.adjacent_lanes = custom_ui and params.get_bool("AdjacentPath")
self.blind_spot_path = custom_ui and params.get_bool("BlindSpotPath")
longitudinal_tune = params.get_bool("LongitudinalTune")

5
selfdrive/frogpilot/ui/visual_settings.cc
View File

@@ -23,6 +23,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
{"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
{"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
{"AdjacentPath", "Adjacent Paths", "Display paths to the left and right of your car, visualizing where the model detects lanes.", ""},
{"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
{"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
@@ -111,6 +112,10 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
std::vector<QString> leadInfoToggles{"UseSI"};
std::vector<QString> leadInfoToggleNames{tr("Use SI Values")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadInfoToggles, leadInfoToggleNames);
} else if (param == "AdjacentPath") {
std::vector<QString> adjacentPathToggles{"AdjacentPathMetrics"};
std::vector<QString> adjacentPathToggleNames{tr("Display Metrics")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, adjacentPathToggles, adjacentPathToggleNames);
} else if (param == "ModelUI") {
FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);

2
selfdrive/frogpilot/ui/visual_settings.h
View File

@@ -30,7 +30,7 @@ private:
std::set<QString> alertVolumeControlKeys = {"EngageVolume", "DisengageVolume", "RefuseVolume", "PromptVolume", "PromptDistractedVolume", "WarningSoftVolume", "WarningImmediateVolume"};
std::set<QString> customAlertsKeys = {};
std::set<QString> customOnroadUIKeys = {"AccelerationPath", "BlindSpotPath", "LeadInfo"};
std::set<QString> customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "LeadInfo"};
std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
std::set<QString> modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
std::set<QString> qolKeys = {"DriveStats"};