190 lines
8.0 KiB
Python
Executable File
190 lines
8.0 KiB
Python
Executable File
from cereal import log
|
|
from openpilot.common.conversions import Conversions as CV
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import DT_MDL
|
|
|
|
LaneChangeState = log.LaneChangeState
|
|
LaneChangeDirection = log.LaneChangeDirection
|
|
TurnDirection = log.Desire
|
|
|
|
LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
|
|
LANE_CHANGE_TIME_MAX = 10.
|
|
|
|
|
|
DESIRES = {
|
|
LaneChangeDirection.none: {
|
|
LaneChangeState.off: log.Desire.none,
|
|
LaneChangeState.preLaneChange: log.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.Desire.none,
|
|
LaneChangeState.laneChangeFinishing: log.Desire.none,
|
|
},
|
|
LaneChangeDirection.left: {
|
|
LaneChangeState.off: log.Desire.none,
|
|
LaneChangeState.preLaneChange: log.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
|
|
LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
|
|
},
|
|
LaneChangeDirection.right: {
|
|
LaneChangeState.off: log.Desire.none,
|
|
LaneChangeState.preLaneChange: log.Desire.none,
|
|
LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
|
|
LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
|
|
},
|
|
}
|
|
|
|
TURN_DESIRES = {
|
|
TurnDirection.none: log.Desire.none,
|
|
TurnDirection.turnLeft: log.Desire.turnLeft,
|
|
TurnDirection.turnRight: log.Desire.turnRight,
|
|
}
|
|
|
|
class DesireHelper:
|
|
def __init__(self):
|
|
self.lane_change_state = LaneChangeState.off
|
|
self.lane_change_direction = LaneChangeDirection.none
|
|
self.lane_change_timer = 0.0
|
|
self.lane_change_ll_prob = 1.0
|
|
self.keep_pulse_timer = 0.0
|
|
self.prev_one_blinker = False
|
|
self.desire = log.Desire.none
|
|
|
|
# FrogPilot variables
|
|
self.params = Params()
|
|
self.params_memory = Params("/dev/shm/params")
|
|
|
|
self.turn_direction = TurnDirection.none
|
|
|
|
self.lane_change_completed = False
|
|
self.turn_completed = False
|
|
|
|
self.lane_change_wait_timer = 0
|
|
|
|
self.update_frogpilot_params()
|
|
|
|
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
|
|
# Clearpilot test lane change no lat
|
|
clearpilot_disable_lat_on_lane_change = True
|
|
|
|
# Todo, we want to count how many lanes we have moved during this process either left or right.
|
|
# Then, if blinker left, but we have traveled rightwards, reenable lateral and vice versa.
|
|
# Also, if we are less than 25% twoards our lane change and we get a blind spot, reenable lateral
|
|
# with influence back to our lane on wheel.
|
|
|
|
v_ego = carstate.vEgo
|
|
one_blinker = carstate.leftBlinker != carstate.rightBlinker
|
|
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
|
|
|
if not (self.lane_detection and one_blinker) or below_lane_change_speed:
|
|
lane_available = True
|
|
else:
|
|
desired_lane = frogpilotPlan.laneWidthLeft if carstate.leftBlinker else frogpilotPlan.laneWidthRight
|
|
lane_available = desired_lane >= self.lane_detection_width
|
|
|
|
if (not clearpilot_disable_lat_on_lane_change and not lateral_active) or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
|
|
self.lane_change_state = LaneChangeState.off
|
|
self.lane_change_direction = LaneChangeDirection.none
|
|
self.turn_direction = TurnDirection.none
|
|
elif one_blinker and below_lane_change_speed and self.turn_desires:
|
|
self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
|
|
# Set the "turn_completed" flag to prevent lane changes after completing a turn
|
|
self.turn_completed = True
|
|
else:
|
|
self.turn_direction = TurnDirection.none
|
|
|
|
# LaneChangeState.off
|
|
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
|
|
self.lane_change_state = LaneChangeState.preLaneChange
|
|
self.lane_change_ll_prob = 1.0
|
|
self.lane_change_wait_timer = 0
|
|
|
|
# LaneChangeState.preLaneChange
|
|
elif self.lane_change_state == LaneChangeState.preLaneChange:
|
|
# Set lane change direction
|
|
self.lane_change_direction = LaneChangeDirection.left if \
|
|
carstate.leftBlinker else LaneChangeDirection.right
|
|
|
|
torque_applied = carstate.steeringPressed and \
|
|
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
|
|
(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
|
|
|
|
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
|
|
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
|
|
|
|
self.lane_change_wait_timer += DT_MDL
|
|
if self.nudgeless and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= self.lane_change_delay:
|
|
torque_applied = True
|
|
self.lane_change_wait_timer = 0
|
|
|
|
if not one_blinker or below_lane_change_speed:
|
|
self.lane_change_state = LaneChangeState.off
|
|
self.lane_change_direction = LaneChangeDirection.none
|
|
elif torque_applied and not blindspot_detected:
|
|
self.lane_change_state = LaneChangeState.laneChangeStarting
|
|
self.lane_change_completed = True if self.one_lane_change else False
|
|
|
|
# LaneChangeState.laneChangeStarting
|
|
elif self.lane_change_state == LaneChangeState.laneChangeStarting:
|
|
if clearpilot_disable_lat_on_lane_change:
|
|
if not one_blinker:
|
|
self.lane_change_state = LaneChangeState.laneChangeFinishing
|
|
else:
|
|
# fade out over .5s
|
|
self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
|
|
|
|
# 98% certainty
|
|
if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
|
|
self.lane_change_state = LaneChangeState.laneChangeFinishing
|
|
|
|
# LaneChangeState.laneChangeFinishing
|
|
elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
|
|
# fade in laneline over 1s
|
|
self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
|
|
|
|
if self.lane_change_ll_prob > 0.99:
|
|
self.lane_change_direction = LaneChangeDirection.none
|
|
if one_blinker:
|
|
self.lane_change_state = LaneChangeState.preLaneChange
|
|
else:
|
|
self.lane_change_state = LaneChangeState.off
|
|
|
|
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
|
|
self.lane_change_timer = 0.0
|
|
else:
|
|
self.lane_change_timer += DT_MDL
|
|
|
|
self.lane_change_completed &= one_blinker
|
|
self.prev_one_blinker = one_blinker
|
|
self.turn_completed &= one_blinker
|
|
|
|
if self.turn_direction != TurnDirection.none:
|
|
self.desire = TURN_DESIRES[self.turn_direction]
|
|
elif not self.turn_completed:
|
|
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
|
else:
|
|
self.desire = log.Desire.none
|
|
|
|
# Send keep pulse once per second during LaneChangeStart.preLaneChange
|
|
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
|
|
self.keep_pulse_timer = 0.0
|
|
elif self.lane_change_state == LaneChangeState.preLaneChange:
|
|
self.keep_pulse_timer += DT_MDL
|
|
if self.keep_pulse_timer > 1.0:
|
|
self.keep_pulse_timer = 0.0
|
|
elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
|
|
self.desire = log.Desire.none
|
|
|
|
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
|
|
self.update_frogpilot_params()
|
|
|
|
def update_frogpilot_params(self):
|
|
is_metric = self.params.get_bool("IsMetric")
|
|
|
|
lateral_tune = self.params.get_bool("LateralTune")
|
|
self.turn_desires = lateral_tune and self.params.get_bool("TurnDesires")
|
|
|
|
self.nudgeless = self.params.get_bool("NudgelessLaneChange")
|
|
self.lane_change_delay = self.params.get_int("LaneChangeTime") if self.nudgeless else 0
|
|
self.lane_detection = self.nudgeless and self.params.get_int("LaneDetectionWidth") != 0
|
|
self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0
|
|
self.one_lane_change = self.nudgeless and self.params.get_bool("OneLaneChange")
|