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Customizable personality profiles

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Added toggles to customize the t_follow and jerk values for each of the personality profiles.
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FrogAi
2024-04-18 17:32:59 -07:00
parent 0fb9f835b2
commit 65b54fcf0d
6 changed files with 114 additions and 19 deletions
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common/params.cc
+7
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@@ -212,6 +212,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"AccelerationPath", PERSISTENT},
{"AccelerationProfile", PERSISTENT},
{"AggressiveAcceleration", PERSISTENT},
{"AggressiveFollow", PERSISTENT},
{"AggressiveJerk", PERSISTENT},
{"AlertVolumeControl", PERSISTENT},
{"AlwaysOnLateral", PERSISTENT},
{"AlwaysOnLateralMain", PERSISTENT},
@@ -238,6 +240,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CustomColors", PERSISTENT},
{"CustomIcons", PERSISTENT},
{"CustomPaths", PERSISTENT},
{"CustomPersonalities", PERSISTENT},
{"CustomUI", PERSISTENT},
{"CustomSignals", PERSISTENT},
{"CustomSounds", PERSISTENT},
@@ -265,7 +268,11 @@ std::unordered_map<std::string, uint32_t> keys = {
{"QOLControls", PERSISTENT},
{"QOLVisuals", PERSISTENT},
{"RefuseVolume", PERSISTENT},
{"RelaxedFollow", PERSISTENT},
{"RelaxedJerk", PERSISTENT},
{"RoadEdgesWidth", PERSISTENT},
{"StandardFollow", PERSISTENT},
{"StandardJerk", PERSISTENT},
{"StockTune", PERSISTENT},
{"UnlimitedLength", PERSISTENT},
{"WarningImmediateVolume", PERSISTENT},
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+36 -16
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@@ -58,26 +58,46 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.])
COMFORT_BRAKE = 2.5
STOP_DISTANCE = 6.0
def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5
def get_jerk_factor(custom_personalities=False, aggressive_jerk=0.5, standard_jerk=1.0, relaxed_jerk=1.0, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_jerk
elif personality==log.LongitudinalPersonality.standard:
return standard_jerk
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_jerk
else:
raise NotImplementedError("Longitudinal personality not supported")
else:
raise NotImplementedError("Longitudinal personality not supported")
if personality==log.LongitudinalPersonality.relaxed:
return 1.0
elif personality==log.LongitudinalPersonality.standard:
return 1.0
elif personality==log.LongitudinalPersonality.aggressive:
return 0.5
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
def get_T_FOLLOW(custom_personalities=False, aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, personality=log.LongitudinalPersonality.standard):
if custom_personalities:
if personality==log.LongitudinalPersonality.relaxed:
return relaxed_follow
elif personality==log.LongitudinalPersonality.standard:
return standard_follow
elif personality==log.LongitudinalPersonality.aggressive:
return aggressive_follow
else:
raise NotImplementedError("Longitudinal personality not supported")
else:
raise NotImplementedError("Longitudinal personality not supported")
if personality==log.LongitudinalPersonality.relaxed:
return 1.75
elif personality==log.LongitudinalPersonality.standard:
return 1.45
elif personality==log.LongitudinalPersonality.aggressive:
return 1.25
else:
raise NotImplementedError("Longitudinal personality not supported")
def get_stopped_equivalence_factor(v_lead):
return (v_lead**2) / (2 * COMFORT_BRAKE)
selfdrive/frogpilot/assets/toggle_icons/icon_custom.png
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selfdrive/frogpilot/controls/frogpilot_planner.py
+10 -2
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@@ -90,8 +90,8 @@ class FrogPilotPlanner:
road_curvature = calculate_road_curvature(modelData, v_ego)
if radarState.leadOne.status and self.CP.openpilotLongitudinalControl:
base_jerk = get_jerk_factor(controlsState.personality)
base_t_follow = get_T_FOLLOW(controlsState.personality)
base_jerk = get_jerk_factor(self.custom_personalities, self.aggressive_jerk, self.standard_jerk, self.relaxed_jerk, controlsState.personality)
base_t_follow = get_T_FOLLOW(self.custom_personalities, self.aggressive_follow, self.standard_follow, self.relaxed_follow, controlsState.personality)
self.jerk, self.t_follow = self.update_follow_values(base_jerk, radarState, base_t_follow, v_ego, v_lead)
else:
self.t_follow = 1.45
@@ -158,6 +158,14 @@ class FrogPilotPlanner:
custom_alerts = self.params.get_bool("CustomAlerts")
self.custom_personalities = self.params.get_bool("CustomPersonalities")
self.aggressive_jerk = self.params.get_float("AggressiveJerk")
self.aggressive_follow = self.params.get_float("AggressiveFollow")
self.standard_jerk = self.params.get_float("StandardJerk")
self.standard_follow = self.params.get_float("StandardFollow")
self.relaxed_jerk = self.params.get_float("RelaxedJerk")
self.relaxed_follow = self.params.get_float("RelaxedFollow")
custom_ui = self.params.get_bool("CustomUI")
self.blind_spot_path = custom_ui and self.params.get_bool("BlindSpotPath")
selfdrive/frogpilot/ui/qt/offroad/control_settings.cc
+58 -1
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@@ -18,6 +18,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
{"CESignal", tr("Turn Signal When Below Highway Speeds"), tr("Switch to 'Experimental Mode' when using turn signals below highway speeds to help assist with turns."), ""},
{"HideCEMStatusBar", tr("Hide the Status Bar"), tr("Don't use the status bar for 'Conditional Experimental Mode'."), ""},
{"CustomPersonalities", tr("Custom Driving Personalities"), tr("Customize the driving personality profiles to your driving style."), "../frogpilot/assets/toggle_icons/icon_custom.png"},
{"LateralTune", tr("Lateral Tuning"), tr("Modify openpilot's steering behavior."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
{"LongitudinalTune", tr("Longitudinal Tuning"), tr("Modify openpilot's acceleration and braking behavior."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
@@ -81,6 +83,58 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
std::vector<QString> stopLightToggleNames{tr("With Lead")};
toggle = new FrogPilotParamToggleControl(param, title, desc, icon, stopLightToggles, stopLightToggleNames);
} else if (param == "CustomPersonalities") {
FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
openParentToggle();
for (auto &[key, toggle] : toggles) {
toggle->setVisible(false);
}
aggressiveProfile->setVisible(true);
standardProfile->setVisible(true);
relaxedProfile->setVisible(true);
});
toggle = customPersonalitiesToggle;
FrogPilotParamValueControl *aggressiveFollow = new FrogPilotParamValueControl("AggressiveFollow", tr("Follow"),
tr("Set the 'Aggressive' personality' following distance. "
"Represents seconds to follow behind the lead vehicle.\n\nStock: 1.25 seconds."),
"../frogpilot/assets/other_images/aggressive.png",
1, 5, std::map<int, QString>(), this, false, tr(" sec"), 1, 0.01);
FrogPilotParamValueControl *aggressiveJerk = new FrogPilotParamValueControl("AggressiveJerk", tr("Jerk"),
tr("Configure brake/gas pedal responsiveness for the 'Aggressive' personality. "
"Higher jerk value = Less likely to use the gas/brake.\nLower jerk value = More likely.\n\nStock: 0.5."),
"",
0.01, 5, std::map<int, QString>(), this, false, "", 1, 0.01);
aggressiveProfile = new FrogPilotDualParamControl(aggressiveFollow, aggressiveJerk, this, true);
addItem(aggressiveProfile);
FrogPilotParamValueControl *standardFollow = new FrogPilotParamValueControl("StandardFollow", tr("Follow"),
tr("Set the 'Standard' personality following distance. "
"Represents seconds to follow behind the lead vehicle.\n\nStock: 1.45 seconds."),
"../frogpilot/assets/other_images/standard.png",
1, 5, std::map<int, QString>(), this, false, tr(" sec"), 1, 0.01);
FrogPilotParamValueControl *standardJerk = new FrogPilotParamValueControl("StandardJerk", tr("Jerk"),
tr("Adjust brake/gas pedal responsiveness for the 'Standard' personality. "
"Higher jerk value = Less likely to use the gas/brake.\nLower jerk value = More likely.\n\nStock: 1.0."),
"",
0.01, 5, std::map<int, QString>(), this, false, "", 1, 0.01);
standardProfile = new FrogPilotDualParamControl(standardFollow, standardJerk, this, true);
addItem(standardProfile);
FrogPilotParamValueControl *relaxedFollow = new FrogPilotParamValueControl("RelaxedFollow", tr("Follow"),
tr("Set the 'Relaxed' personality following distance. "
"Represents seconds to follow behind the lead vehicle.\n\nStock: 1.75 seconds."),
"../frogpilot/assets/other_images/relaxed.png",
1, 5, std::map<int, QString>(), this, false, tr(" sec"), 1, 0.01);
FrogPilotParamValueControl *relaxedJerk = new FrogPilotParamValueControl("RelaxedJerk", tr("Jerk"),
tr("Set brake/gas pedal responsiveness for the 'Relaxed' personality. "
"Higher jerk value = Less likely to use the gas/brake.\nLower jerk value = More likely.\n\nStock: 1.0."),
"",
0.01, 5, std::map<int, QString>(), this, false, "", 1, 0.01);
relaxedProfile = new FrogPilotDualParamControl(relaxedFollow, relaxedJerk, this, true);
addItem(relaxedProfile);
} else if (param == "LateralTune") {
FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -252,10 +306,13 @@ void FrogPilotControlsPanel::updateMetric() {
}
void FrogPilotControlsPanel::hideToggles() {
aggressiveProfile->setVisible(false);
conditionalSpeedsImperial->setVisible(false);
conditionalSpeedsMetric->setVisible(false);
standardProfile->setVisible(false);
relaxedProfile->setVisible(false);
std::set<QString> longitudinalKeys = {"ConditionalExperimental", "LongitudinalTune"};
std::set<QString> longitudinalKeys = {"ConditionalExperimental", "CustomPersonalities", "LongitudinalTune"};
for (auto &[key, toggle] : toggles) {
toggle->setVisible(false);
selfdrive/frogpilot/ui/qt/offroad/control_settings.h
+3
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@@ -25,8 +25,11 @@ private:
void updateState();
void updateToggles();
FrogPilotDualParamControl *aggressiveProfile;
FrogPilotDualParamControl *conditionalSpeedsImperial;
FrogPilotDualParamControl *conditionalSpeedsMetric;
FrogPilotDualParamControl *standardProfile;
FrogPilotDualParamControl *relaxedProfile;
std::set<QString> aolKeys = {"AlwaysOnLateralMain", "HideAOLStatusBar", "PauseAOLOnBrake"};
std::set<QString> conditionalExperimentalKeys = {"CECurves", "CECurvesLead", "CENavigation", "CESignal", "CESlowerLead", "CEStopLights", "HideCEMStatusBar"};