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https://github.com/firestar5683/StarPilot.git
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FrogAi
105 lines
4.4 KiB
Python
105 lines
4.4 KiB
Python
import numpy as np
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import cereal.messaging as messaging
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.numpy_fast import interp
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_MDL
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from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
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from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, COMFORT_BRAKE, DANGER_ZONE_COST, J_EGO_COST, STOP_DISTANCE, \
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get_jerk_factor, get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
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from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, Lead, get_max_accel
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from openpilot.selfdrive.modeld.constants import ModelConstants
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from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, TRAJECTORY_SIZE
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class FrogPilotPlanner:
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def __init__(self):
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self.params_memory = Params("/dev/shm/params")
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self.tracking_lead = False
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self.acceleration_jerk = 0
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self.danger_jerk = 0
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self.model_length = 0
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self.speed_jerk = 0
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self.v_cruise = 0
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def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarState):
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self.lead_one = radarState.leadOne
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v_cruise = min(controlsState.vCruise, V_CRUISE_UNSET) * CV.KPH_TO_MS
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v_ego = max(carState.vEgo, 0)
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v_lead = self.lead_one.vLead
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lead_distance = self.lead_one.dRel
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stopping_distance = STOP_DISTANCE
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self.model_length = modelData.position.x[TRAJECTORY_SIZE - 1]
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if v_ego > CRUISING_SPEED:
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self.tracking_lead = self.lead_one.status
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else:
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self.tracking_lead &= self.lead_one.status
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self.set_acceleration(controlsState, frogpilotCarState, v_cruise, v_ego)
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self.set_follow_values(controlsState, frogpilotCarState, v_ego, v_lead)
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self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead)
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self.update_v_cruise(carState, controlsState, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego)
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def set_acceleration(self, controlsState, frogpilotCarState, v_cruise, v_ego):
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if controlsState.experimentalMode:
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self.max_accel = ACCEL_MAX
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else:
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self.max_accel = get_max_accel(v_ego)
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if controlsState.experimentalMode:
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self.min_accel = ACCEL_MIN
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else:
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self.min_accel = A_CRUISE_MIN
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def set_follow_values(self, controlsState, frogpilotCarState, v_ego, v_lead):
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self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(controlsState.personality)
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self.t_follow = get_T_FOLLOW(controlsState.personality)
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if self.tracking_lead:
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self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead)
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else:
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self.acceleration_jerk = self.base_acceleration_jerk
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self.danger_jerk = self.base_danger_jerk
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self.speed_jerk = self.base_speed_jerk
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def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead):
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def update_v_cruise(self, carState, controlsState, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego):
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v_cruise_cluster = max(controlsState.vCruiseCluster, v_cruise) * CV.KPH_TO_MS
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v_cruise_diff = v_cruise_cluster - v_cruise
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v_ego_cluster = max(carState.vEgoCluster, v_ego)
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v_ego_diff = v_ego_cluster - v_ego
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targets = []
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self.v_cruise = min([target if target > CRUISING_SPEED else v_cruise for target in targets])
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def publish(self, sm, pm):
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frogpilot_plan_send = messaging.new_message('frogpilotPlan')
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frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
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frogpilotPlan = frogpilot_plan_send.frogpilotPlan
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frogpilotPlan.accelerationJerk = A_CHANGE_COST * float(self.acceleration_jerk)
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frogpilotPlan.accelerationJerkStock = A_CHANGE_COST * float(self.base_acceleration_jerk)
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frogpilotPlan.dangerJerk = DANGER_ZONE_COST * float(self.danger_jerk)
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frogpilotPlan.speedJerk = J_EGO_COST * float(self.speed_jerk)
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frogpilotPlan.speedJerkStock = J_EGO_COST * float(self.base_speed_jerk)
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frogpilotPlan.tFollow = float(self.t_follow)
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frogpilotPlan.maxAcceleration = self.max_accel
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frogpilotPlan.minAcceleration = self.min_accel
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frogpilotPlan.vCruise = float(self.v_cruise)
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pm.send('frogpilotPlan', frogpilot_plan_send)
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