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https://github.com/firestar5683/StarPilot.git
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FrogAi
101 lines
5.2 KiB
Python
101 lines
5.2 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.filter_simple import FirstOrderFilter
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from openpilot.common.realtime import DT_MDL
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from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD, params_memory
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class ConditionalExperimentalMode:
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def __init__(self, FrogPilotPlanner):
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self.frogpilot_planner = FrogPilotPlanner
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self.curvature_filter = FirstOrderFilter(0, 1, DT_MDL)
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self.slow_lead_filter = FirstOrderFilter(0, 1, DT_MDL)
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self.stop_light_filter = FirstOrderFilter(0, 1, DT_MDL)
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self.curve_detected = False
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self.experimental_mode = False
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self.stop_light_detected = False
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def update(self, carState, frogpilotCarState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles):
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self.status_value = params_memory.get_int("CEStatus")
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if self.status_value not in {1, 2, 3, 4, 5, 6} and not carState.standstill:
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self.update_conditions(frogpilotCarState, self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles)
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self.experimental_mode = self.check_conditions(carState, frogpilotNavigation, modelData, self.frogpilot_planner.frogpilot_following.following_lead, v_ego, v_lead, frogpilot_toggles)
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params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
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else:
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self.experimental_mode = self.status_value in {2, 4, 6} or carState.standstill and self.experimental_mode and self.frogpilot_planner.model_stopped
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self.stop_light_detected &= self.status_value not in {1, 2, 3, 4, 5, 6}
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self.stop_light_filter.x = 0
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def check_conditions(self, carState, frogpilotNavigation, modelData, following_lead, v_ego, v_lead, frogpilot_toggles):
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below_speed = frogpilot_toggles.conditional_limit > v_ego >= 1 and not following_lead
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below_speed_with_lead = frogpilot_toggles.conditional_limit_lead > v_ego >= 1 and following_lead
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if below_speed or below_speed_with_lead:
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self.status_value = 7 if following_lead else 8
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return True
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desired_lane = self.frogpilot_planner.lane_width_left if carState.leftBlinker else self.frogpilot_planner.lane_width_right
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lane_available = desired_lane >= frogpilot_toggles.lane_detection_width or not frogpilot_toggles.conditional_signal_lane_detection
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if v_ego < frogpilot_toggles.conditional_signal and (carState.leftBlinker or carState.rightBlinker) and not lane_available:
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self.status_value = 9
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return True
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approaching_maneuver = modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn)
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if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not following_lead):
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self.status_value = 10 if frogpilotNavigation.approachingIntersection else 11
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return True
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if frogpilot_toggles.conditional_curves and self.curve_detected and (frogpilot_toggles.conditional_curves_lead or not following_lead):
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self.status_value = 12
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return True
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if frogpilot_toggles.conditional_lead and self.slow_lead_detected:
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self.status_value = 13 if v_lead < 1 else 14
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return True
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if frogpilot_toggles.conditional_model_stop_time != 0 and self.stop_light_detected:
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self.status_value = 15 if not self.frogpilot_planner.frogpilot_vcruise.forcing_stop else 16
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return True
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if self.frogpilot_planner.frogpilot_vcruise.slc.experimental_mode:
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self.status_value = 17
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return True
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return False
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def update_conditions(self, frogpilotCarState, tracking_lead, v_ego, v_lead, frogpilot_toggles):
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self.curve_detection(tracking_lead, v_ego, frogpilot_toggles)
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self.slow_lead(tracking_lead, v_lead, frogpilot_toggles)
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self.stop_sign_and_light(frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles)
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def curve_detection(self, tracking_lead, v_ego, frogpilot_toggles):
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if v_ego > CRUISING_SPEED:
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curve_active = self.curve_detected and (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego
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self.curvature_filter.update(self.frogpilot_planner.road_curvature_detected or curve_active)
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self.curve_detected = self.curvature_filter.x >= THRESHOLD
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else:
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self.curvature_filter.x = 0
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self.curve_detected = False
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def slow_lead(self, tracking_lead, v_lead, frogpilot_toggles):
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if tracking_lead:
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slower_lead = frogpilot_toggles.conditional_slower_lead and self.frogpilot_planner.frogpilot_following.slower_lead
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stopped_lead = frogpilot_toggles.conditional_stopped_lead and v_lead < 1
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self.slow_lead_detected = self.slow_lead_filter.update(1 if slower_lead or stopped_lead else 0) >= THRESHOLD
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else:
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self.slow_lead_filter.update(0)
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self.slow_lead_detected = False
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def stop_sign_and_light(self, frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles):
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if not (self.curve_detected or tracking_lead or frogpilotCarState.trafficModeActive):
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model_stopping = self.frogpilot_planner.model_length < v_ego * frogpilot_toggles.conditional_model_stop_time
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self.stop_light_filter.update(self.frogpilot_planner.model_stopped or model_stopping)
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self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD**2
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else:
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self.stop_light_filter.x = 0
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self.stop_light_detected = False
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