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Controls - Lane Change Customizations - Lane Change Timer

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Set a delay before executing a nudgeless lane change.
This commit is contained in:
FrogAi
2024-06-07 10:11:41 -07:00
parent ba1ff9d73d
commit aef57f1e2c
1 changed files with 11 additions and 1 deletions
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selfdrive/controls/lib/desire_helper.py
+11 -1
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@@ -40,6 +40,9 @@ class DesireHelper:
self.prev_one_blinker = False
self.desire = log.Desire.none
# FrogPilot variables
self.lane_change_wait_timer = 0.0
def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
@@ -53,9 +56,12 @@ class DesireHelper:
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 = 0.0
# LaneChangeState.preLaneChange
elif self.lane_change_state == LaneChangeState.preLaneChange:
self.lane_change_wait_timer += DT_MDL
# Set lane change direction
self.lane_change_direction = LaneChangeDirection.left if \
carstate.leftBlinker else LaneChangeDirection.right
@@ -64,14 +70,18 @@ class DesireHelper:
((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
if torque_applied:
self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay
blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
(carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
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:
elif torque_applied and not blindspot_detected and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
self.lane_change_state = LaneChangeState.laneChangeStarting
self.lane_change_wait_timer = 0.0
# LaneChangeState.laneChangeStarting
elif self.lane_change_state == LaneChangeState.laneChangeStarting: