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73 lines
2.9 KiB
Python
73 lines
2.9 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.constants import CV
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HIGHWAY_LEAD_BEHAVIOR_MIN_SPEED = 45. * CV.MPH_TO_MS
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VISION_LEAD_TRACK_MIN_DISTANCE = 25.0
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VISION_LEAD_TRACK_BASE_TIME_GAP = 1.75
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VISION_LEAD_TRACK_CLOSING_GAIN = 0.20
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VISION_LEAD_TRACK_CLOSING_CAP = 2.50
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def should_track_lead(lead_status: bool, lead_distance: float, model_length: float, stop_distance: float,
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v_ego: float, *, v_lead: float | None = None, radar: bool = False) -> bool:
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if not lead_status:
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return False
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tracking_buffer = max(float(stop_distance), 4.0)
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model_limit = float(model_length) + tracking_buffer
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if radar:
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return float(lead_distance) < model_limit
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closing_speed = max(0.0, float(v_ego) - float(v_lead if v_lead is not None else v_ego))
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vision_time_gap = VISION_LEAD_TRACK_BASE_TIME_GAP + min(closing_speed * VISION_LEAD_TRACK_CLOSING_GAIN,
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VISION_LEAD_TRACK_CLOSING_CAP)
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vision_limit = max(VISION_LEAD_TRACK_MIN_DISTANCE, float(v_ego) * vision_time_gap + tracking_buffer)
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return float(lead_distance) < min(model_limit, vision_limit)
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def get_tracked_lead_catchup_bias(v_ego: float, lead_distance: float, desired_gap: float, closing_speed: float,
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v_cruise: float | None = None) -> float:
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gap_error = lead_distance - desired_gap
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actual_hw = lead_distance / max(v_ego, 1e-3)
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desired_hw = desired_gap / max(v_ego, 1e-3)
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if v_ego <= HIGHWAY_LEAD_BEHAVIOR_MIN_SPEED:
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return 0.0
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if v_cruise is not None and v_ego >= v_cruise:
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return 0.0
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if gap_error <= 0.0:
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return 0.0
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# Encourage ACC to treat a tracked lead as the active constraint when we're
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# hanging far above the requested time gap, but don't override cruise for a
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# truly distant lead or one we're already closing on decisively.
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if actual_hw <= max(desired_hw + 0.3, 1.72):
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return 0.0
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if actual_hw >= max(desired_hw + 1.6, 3.0):
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return 0.0
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if closing_speed > max(2.5, 0.12 * v_ego):
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return 0.0
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return min(gap_error * 0.65, max(14.0, 0.75 * v_ego))
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def should_disable_far_lead_throttle(v_ego: float, lead_distance: float, desired_gap: float,
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closing_speed: float, following_lead: bool) -> bool:
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actual_hw = lead_distance / max(v_ego, 1e-3)
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desired_hw = desired_gap / max(v_ego, 1e-3)
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if following_lead or v_ego <= HIGHWAY_LEAD_BEHAVIOR_MIN_SPEED:
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return False
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# Don't coast if we're already materially above the requested headway.
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if actual_hw > max(desired_hw + 0.15, 1.75):
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return False
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coast_window_open = lead_distance > desired_gap + max(4.0, 0.15 * v_ego)
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coast_window_far = lead_distance < desired_gap + max(12.0, 0.60 * v_ego)
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gentle_closing = 0.35 < closing_speed < max(1.35, 0.05 * v_ego)
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ttc = lead_distance / max(closing_speed, 1e-3) if closing_speed > 0.1 else 1e6
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return coast_window_open and coast_window_far and gentle_closing and ttc > 7.5 and lead_distance > desired_gap + 7.0
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