from cereal import log from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.frogpilot.functions.frogpilot_planner import calculate_lane_width LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { LaneChangeDirection.none: { LaneChangeState.off: log.LateralPlan.Desire.none, LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none, LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none, }, LaneChangeDirection.left: { LaneChangeState.off: log.LateralPlan.Desire.none, LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft, LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft, }, LaneChangeDirection.right: { LaneChangeState.off: log.LateralPlan.Desire.none, LaneChangeState.preLaneChange: log.LateralPlan.Desire.none, LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight, LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight, }, } 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.LateralPlan.Desire.none # FrogPilot variables self.lane_change_completed = False self.lane_change_wait_timer = 0 self.lane_width_left = 0 self.lane_width_right = 0 def update(self, carstate, modeldata, lateral_active, lane_change_prob, frogpilot_planner): v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN # Calculate left and right lane widths for the blindspot path turning = abs(carstate.steeringAngleDeg) >= 60 if frogpilot_planner.blindspot_path and not below_lane_change_speed and not turning: # Calculate left and right lane widths self.lane_width_left = calculate_lane_width(modeldata.laneLines[0], modeldata.laneLines[1], modeldata.roadEdges[0]) self.lane_width_right = calculate_lane_width(modeldata.laneLines[3], modeldata.laneLines[2], modeldata.roadEdges[1]) else: self.lane_width_left = 0 self.lane_width_right = 0 # Calculate the desired lane width for nudgeless lane change with lane detection if not (frogpilot_planner.lane_detection and one_blinker) or below_lane_change_speed or turning: lane_available = True else: # Set the minimum lane threshold to 2.8 meters min_lane_threshold = 2.8 # Set the blinker index based on which signal is on blinker_index = 0 if carstate.leftBlinker else 1 current_lane = modeldata.laneLines[blinker_index + 1] desired_lane = modeldata.laneLines[blinker_index if carstate.leftBlinker else blinker_index + 2] road_edge = modeldata.roadEdges[blinker_index] # Check if the lane width exceeds the threshold lane_available = calculate_lane_width(desired_lane, current_lane, road_edge) >= min_lane_threshold if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none else: # 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)) # Conduct a nudgeless lane change if all the conditions are true self.lane_change_wait_timer += DT_MDL if frogpilot_planner.nudgeless and lane_available and not self.lane_change_completed and self.lane_change_wait_timer >= frogpilot_planner.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: # Set the "lane_change_completed" flag to prevent any more lane changes if the toggle is on self.lane_change_completed = frogpilot_planner.one_lane_change self.lane_change_state = LaneChangeState.laneChangeStarting # LaneChangeState.laneChangeStarting elif self.lane_change_state == LaneChangeState.laneChangeStarting: # 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.prev_one_blinker = one_blinker # Reset the flags self.lane_change_completed &= one_blinker self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] # 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.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight): self.desire = log.LateralPlan.Desire.none