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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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5
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -68,7 +68,7 @@ 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.adjacent_lanes or self.blind_spot_path
check_lane_width = self.adjacent_lanes or self.blind_spot_path or self.lane_detection
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]))
@@ -156,6 +156,9 @@ class FrogPilotPlanner:
self.adjacent_lanes = custom_ui and params.get_bool("AdjacentPath")
self.blind_spot_path = custom_ui and params.get_bool("BlindSpotPath")
nudgeless_lane_change = params.get_bool("NudgelessLaneChange")
self.lane_detection = nudgeless_lane_change and params.get_bool("LaneDetection")
longitudinal_tune = params.get_bool("LongitudinalTune")
self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0
self.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tune else 0