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Speed limit controller

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Added toggle to control the cruise set speed according to speed limit supplied by OSM, NOO, or the vehicle itself.

Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: Efini <19368997+efini@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
Co-Authored-By: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 6907410750
commit 3a926ddfbe
23 changed files with 703 additions and 29 deletions
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6
selfdrive/frogpilot/functions/conditional_experimental_mode.py
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@@ -3,6 +3,7 @@ from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, MovingAverageCalculator, PROBABILITY
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
# Lookup table for stop sign / stop light detection
SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
@@ -74,6 +75,11 @@ class ConditionalExperimentalMode:
self.status_value = 7 if frogpilotNavigation.approachingIntersection else 8
return True
# Speed Limit Controller check
if SpeedLimitController.experimental_mode:
self.status_value = 9
return True
# Speed check
if (not self.lead_detected and v_ego <= self.limit) or (self.lead_detected and v_ego <= self.limit_lead):
self.status_value = 10 if self.lead_detected else 11