177 lines
7.3 KiB
Python
177 lines
7.3 KiB
Python
from cereal import log
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_MDL
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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TurnDirection = log.Desire
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LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
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LANE_CHANGE_TIME_MAX = 10.
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DESIRES = {
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LaneChangeDirection.none: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.none,
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LaneChangeState.laneChangeFinishing: log.Desire.none,
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},
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LaneChangeDirection.left: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeLeft,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeLeft,
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},
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LaneChangeDirection.right: {
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LaneChangeState.off: log.Desire.none,
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LaneChangeState.preLaneChange: log.Desire.none,
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LaneChangeState.laneChangeStarting: log.Desire.laneChangeRight,
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LaneChangeState.laneChangeFinishing: log.Desire.laneChangeRight,
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},
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}
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TURN_DESIRES = {
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TurnDirection.none: log.Desire.none,
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TurnDirection.turnLeft: log.Desire.turnLeft,
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TurnDirection.turnRight: log.Desire.turnRight,
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}
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class DesireHelper:
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def __init__(self):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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self.lane_change_ll_prob = 1.0
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self.keep_pulse_timer = 0.0
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self.prev_one_blinker = False
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self.desire = log.Desire.none
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# FrogPilot variables
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self.params = Params()
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self.params_memory = Params("/dev/shm/params")
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self.turn_direction = TurnDirection.none
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self.lane_change_completed = False
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self.turn_completed = False
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self.lane_change_wait_timer = 0
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self.update_frogpilot_params()
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def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan):
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v_ego = carstate.vEgo
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one_blinker = carstate.leftBlinker != carstate.rightBlinker
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below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
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if not (self.lane_detection and one_blinker) or below_lane_change_speed:
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lane_available = True
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else:
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desired_lane = frogpilotPlan.laneWidthLeft if carstate.leftBlinker else frogpilotPlan.laneWidthRight
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lane_available = desired_lane >= self.lane_detection_width
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if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.turn_direction = TurnDirection.none
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elif one_blinker and below_lane_change_speed and self.turn_desires:
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self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
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# Set the "turn_completed" flag to prevent lane changes after completing a turn
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self.turn_completed = True
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else:
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self.turn_direction = TurnDirection.none
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# LaneChangeState.off
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if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
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self.lane_change_state = LaneChangeState.preLaneChange
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self.lane_change_ll_prob = 1.0
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self.lane_change_wait_timer = 0
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# LaneChangeState.preLaneChange
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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# Set lane change direction
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self.lane_change_direction = LaneChangeDirection.left if \
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carstate.leftBlinker else LaneChangeDirection.right
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torque_applied = carstate.steeringPressed and \
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((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
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(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
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blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
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(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
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self.lane_change_wait_timer += DT_MDL
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if self.nudgeless and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= self.lane_change_delay:
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torque_applied = True
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self.lane_change_wait_timer = 0
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if not one_blinker or below_lane_change_speed:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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elif torque_applied and not blindspot_detected:
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self.lane_change_state = LaneChangeState.laneChangeStarting
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self.lane_change_completed = True if self.one_lane_change else False
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# LaneChangeState.laneChangeStarting
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elif self.lane_change_state == LaneChangeState.laneChangeStarting:
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# fade out over .5s
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self.lane_change_ll_prob = max(self.lane_change_ll_prob - 2 * DT_MDL, 0.0)
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# 98% certainty
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if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
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self.lane_change_state = LaneChangeState.laneChangeFinishing
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# LaneChangeState.laneChangeFinishing
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elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
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# fade in laneline over 1s
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self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
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if self.lane_change_ll_prob > 0.99:
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self.lane_change_direction = LaneChangeDirection.none
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if one_blinker:
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self.lane_change_state = LaneChangeState.preLaneChange
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else:
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self.lane_change_state = LaneChangeState.off
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.preLaneChange):
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self.lane_change_timer = 0.0
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else:
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self.lane_change_timer += DT_MDL
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self.lane_change_completed &= one_blinker
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self.prev_one_blinker = one_blinker
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self.turn_completed &= one_blinker
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if self.turn_direction != TurnDirection.none:
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self.desire = TURN_DESIRES[self.turn_direction]
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elif not self.turn_completed:
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self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
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else:
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self.desire = log.Desire.none
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# Send keep pulse once per second during LaneChangeStart.preLaneChange
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if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):
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self.keep_pulse_timer = 0.0
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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self.keep_pulse_timer += DT_MDL
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if self.keep_pulse_timer > 1.0:
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self.keep_pulse_timer = 0.0
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elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
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self.desire = log.Desire.none
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if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
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self.update_frogpilot_params()
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def update_frogpilot_params(self):
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is_metric = self.params.get_bool("IsMetric")
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lateral_tune = self.params.get_bool("LateralTune")
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self.turn_desires = lateral_tune and self.params.get_bool("TurnDesires")
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self.nudgeless = self.params.get_bool("NudgelessLaneChange")
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self.lane_change_delay = self.params.get_int("LaneChangeTime") if self.nudgeless else 0
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self.lane_detection = self.nudgeless and self.params.get_int("LaneDetectionWidth") != 0
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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
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self.one_lane_change = self.nudgeless and self.params.get_bool("OneLaneChange")
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