mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-20 07:43:48 +08:00
James
121 lines
3.4 KiB
Plaintext
121 lines
3.4 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"segments = [\n",
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" \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
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"]\n",
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"platform = \"SUBARU_OUTBACK\"\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import copy\n",
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"import numpy as np\n",
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"\n",
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"from opendbc.can.parser import CANParser\n",
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"\n",
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"from openpilot.selfdrive.car.subaru.values import DBC\n",
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"from openpilot.tools.lib.logreader import LogReader\n",
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"\n",
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"\"\"\"\n",
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"In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n",
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"\"\"\"\n",
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"\n",
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"for segment in segments:\n",
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" lr = LogReader(segment)\n",
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"\n",
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" messages = [\n",
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" (\"ES_Distance\", 20),\n",
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" (\"ES_Brake\", 20),\n",
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" (\"ES_Status\", 20),\n",
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" ]\n",
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"\n",
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" cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n",
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"\n",
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" es_distance_history = []\n",
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" es_status_history = []\n",
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" es_brake_history = []\n",
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" acceleration_history = []\n",
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"\n",
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" last_acc = 0\n",
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"\n",
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" for msg in lr:\n",
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" if msg.which() == \"can\":\n",
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" cp.update_strings([msg.as_builder().to_bytes()])\n",
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" es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n",
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" es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n",
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" es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
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"\n",
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" acceleration_history.append(last_acc)\n",
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"\n",
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" if msg.which() == \"carState\":\n",
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" last_acc = msg.carState.aEgo"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"def process(history, func):\n",
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" return np.array([func(h) for h in history])\n",
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"\n",
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"cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n",
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"cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n",
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"cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n",
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"cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n",
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"acceleration = process(acceleration_history, lambda acc: acc)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"import matplotlib.pyplot as plt\n",
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"\n",
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"valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n",
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"\n",
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"ax = plt.figure().add_subplot()\n",
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"\n",
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"ax.set_title(\"Brake_Pressure vs Acceleration\")\n",
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"ax.set_xlabel(\"Brake_Pessure\")\n",
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"ax.set_ylabel(\"Acceleration\")\n",
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"ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])"
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]
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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},
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"language_info": {
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"codemirror_mode": {
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"file_extension": ".py",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.11.4"
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"nbformat": 4,
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