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Nudgeless lane change

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Added toggles for nudgeless lane changes, lane detection, and one lane change per signal activation with a lane change delay factor.
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 6266c08db4
commit a8387af5f0
9 changed files with 92 additions and 2 deletions
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8
selfdrive/controls/controlsd.py
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@@ -414,12 +414,17 @@ class Controls:
# Handle lane change
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['modelV2'].meta.laneChangeDirection
desired_lane = frogpilot_plan.laneWidthLeft if direction == LaneChangeDirection.left else frogpilot_plan.laneWidthRight
lane_available = desired_lane >= self.lane_detection_width
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
if self.loud_blindspot_alert:
self.events.add(EventName.laneChangeBlockedLoud)
else:
self.events.add(EventName.laneChangeBlocked)
elif not lane_available:
self.events.add(EventName.noLaneAvailable)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
@@ -1088,6 +1093,9 @@ class Controls:
longitudinal_tune = self.params.get_bool("LongitudinalTune")
self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3
self.lane_detection = self.params.get_bool("LaneDetection") and self.params.get_bool("NudgelessLaneChange")
self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if self.is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
quality_of_life = self.params.get_bool("QOLControls")
self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise")