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Nudgeless lane change + lane detection

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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
2024-01-12 22:39:30 -07:00
parent dd127f97db
commit 05780d0980
5 changed files with 62 additions and 1 deletions
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selfdrive/frogpilot/assets/toggle_icons/icon_lane.png Normal file
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5
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -157,3 +157,8 @@ class FrogPilotPlanner:
self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0
self.map_turn_speed_controller = params.get_bool("MTSCEnabled")
self.nudgeless = params.get_bool("NudgelessLaneChange")
self.lane_change_delay = params.get_int("LaneChangeTime") if self.nudgeless else 0
self.lane_detection = params.get_bool("LaneDetection") if self.nudgeless else False
self.one_lane_change = params.get_bool("OneLaneChange") if self.nudgeless else False

23
selfdrive/frogpilot/ui/control_settings.cc
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@@ -34,6 +34,11 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
{"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
{"NudgelessLaneChange", "Nudgeless Lane Change", "Enable lane changes without manual steering input.", "../frogpilot/assets/toggle_icons/icon_lane.png"},
{"LaneChangeTime", "Lane Change Timer", "Specify a delay before executing a nudgeless lane change.", ""},
{"LaneDetection", "Lane Detection", "Block nudgeless lane changes when a lane isn't detected.", ""},
{"OneLaneChange", "One Lane Change Per Signal", "Limit to one nudgeless lane change per turn signal activation.", ""},
};
for (const auto &[param, title, desc, icon] : controlToggles) {
@@ -200,6 +205,22 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
modelSelectorButton->setValue(models[params.getInt("Model")]);
addItem(modelSelectorButton);
} else if (param == "NudgelessLaneChange") {
FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
parentToggleClicked();
for (auto &[key, toggle] : toggles) {
toggle->setVisible(laneChangeKeys.find(key.c_str()) != laneChangeKeys.end());
}
});
toggle = laneChangeToggle;
} else if (param == "LaneChangeTime") {
std::map<int, QString> laneChangeTimeLabels;
for (int i = 0; i <= 10; ++i) {
laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds";
}
toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, laneChangeTimeLabels, this, false);
} else {
toggle = new ParamControl(param, title, desc, icon, this);
}
@@ -235,7 +256,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CESlowerLead", "CENavigation", "CEStopLights", "CESignal"};
fireTheBabysitterKeys = {"NoLogging", "MuteDM", "MuteDoor", "MuteOverheated", "MuteSeatbelt"};
laneChangeKeys = {};
laneChangeKeys = {"LaneChangeTime", "LaneDetection", "OneLaneChange"};
lateralTuneKeys = {"AverageCurvature", "NNFF"};
longitudinalTuneKeys = {"AccelerationProfile", "AggressiveAcceleration", "StoppingDistance"};
speedLimitControllerKeys = {};