Custom UI

Added toggles to customize the lane lines, path, road edges, path edges, show the acceleration/deceleration on the path, lead info, driving logics, adjacent lanes, blind spot path, fps tracker, and an "Unlimited Length" mode that extends the road UI out as far as the model can see.

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -366,6 +366,16 @@ class LongitudinalMpc:
       t_follow_offset = np.clip((lead_xv_0[:,1] - v_ego) + (STOP_DISTANCE - v_ego), 1, distance_factor)
       t_follow = t_follow / t_follow_offset
 
+    # LongitudinalPlan variables for onroad driving insights
+    if self.status:
+      self.safe_obstacle_distance = int(np.mean(get_safe_obstacle_distance(v_ego, t_follow)))
+      self.safe_obstacle_distance_stock = int(np.mean(get_safe_obstacle_distance(v_ego, self.t_follow)))
+      self.stopped_equivalence_factor = int(np.mean(get_stopped_equivalence_factor(lead_xv_0[:,1])))
+    else:
+      self.safe_obstacle_distance = 0
+      self.safe_obstacle_distance_stock = 0
+      self.stopped_equivalence_factor = 0
+
     # To estimate a safe distance from a moving lead, we calculate how much stopping
     # distance that lead needs as a minimum. We can add that to the current distance
     # and then treat that as a stopped car/obstacle at this new distance.