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https://github.com/firestar5683/StarPilot.git
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firestar5683
107 lines
5.5 KiB
Python
107 lines
5.5 KiB
Python
#!/usr/bin/env python3
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import numpy as np
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from openpilot.common.constants import CV
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from openpilot.selfdrive.controls.lib.lead_behavior import should_disable_far_lead_throttle
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from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, LEAD_DANGER_FACTOR, desired_follow_distance, get_jerk_factor, get_T_FOLLOW
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from openpilot.starpilot.common.starpilot_variables import CITY_SPEED_LIMIT, MAX_T_FOLLOW
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TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
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PERSONALITY_BP = [45. * CV.MPH_TO_MS, 70. * CV.MPH_TO_MS]
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def get_longitudinal_personality(sm):
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return sm["selfdriveState"].personality
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class StarPilotFollowing:
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def __init__(self, StarPilotPlanner):
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self.starpilot_planner = StarPilotPlanner
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self.disable_throttle = False
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self.following_lead = False
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self.slower_lead = False
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self.acceleration_jerk = 0
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self.danger_jerk = 0
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self.desired_follow_distance = 0
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self.speed_jerk = 0
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self.t_follow = 0
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def update(self, long_control_active, v_ego, sm, starpilot_toggles):
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personality = get_longitudinal_personality(sm)
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if long_control_active and sm["starpilotCarState"].trafficModeEnabled:
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if sm["carState"].aEgo >= 0:
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self.base_acceleration_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_jerk_acceleration)
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self.base_speed_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_jerk_speed)
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else:
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self.base_acceleration_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_jerk_deceleration)
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self.base_speed_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_jerk_speed_decrease)
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self.base_danger_jerk = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_jerk_danger)
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self.t_follow = np.interp(v_ego, TRAFFIC_MODE_BP, starpilot_toggles.traffic_mode_follow)
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elif long_control_active:
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if sm["carState"].aEgo >= 0:
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self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
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starpilot_toggles.aggressive_jerk_acceleration, starpilot_toggles.aggressive_jerk_danger, starpilot_toggles.aggressive_jerk_speed,
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starpilot_toggles.standard_jerk_acceleration, starpilot_toggles.standard_jerk_danger, starpilot_toggles.standard_jerk_speed,
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starpilot_toggles.relaxed_jerk_acceleration, starpilot_toggles.relaxed_jerk_danger, starpilot_toggles.relaxed_jerk_speed,
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starpilot_toggles.custom_personalities, personality
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)
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else:
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self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor(
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starpilot_toggles.aggressive_jerk_deceleration, starpilot_toggles.aggressive_jerk_danger, starpilot_toggles.aggressive_jerk_speed_decrease,
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starpilot_toggles.standard_jerk_deceleration, starpilot_toggles.standard_jerk_danger, starpilot_toggles.standard_jerk_speed_decrease,
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starpilot_toggles.relaxed_jerk_deceleration, starpilot_toggles.relaxed_jerk_danger, starpilot_toggles.relaxed_jerk_speed_decrease,
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starpilot_toggles.custom_personalities, personality
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)
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self.t_follow = get_T_FOLLOW(
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starpilot_toggles.aggressive_follow,
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starpilot_toggles.standard_follow,
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starpilot_toggles.relaxed_follow,
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starpilot_toggles.custom_personalities, personality
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)
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if isinstance(self.t_follow, (list, tuple)):
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self.t_follow = float(np.interp(v_ego, PERSONALITY_BP, self.t_follow))
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else:
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self.t_follow = float(self.t_follow)
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else:
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self.base_acceleration_jerk = 0
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self.base_danger_jerk = 0
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self.base_speed_jerk = 0
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self.t_follow = 0
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self.acceleration_jerk = self.base_acceleration_jerk
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self.danger_factor = LEAD_DANGER_FACTOR
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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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self.following_lead = self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
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self.slower_lead = False
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if self.starpilot_planner.starpilot_weather.weather_id != 0:
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self.t_follow = min(self.t_follow + self.starpilot_planner.starpilot_weather.increase_following_distance, MAX_T_FOLLOW)
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prioritize_smooth_following = bool(getattr(starpilot_toggles, "prioritize_smooth_following", False))
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self.disable_throttle = False
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if not prioritize_smooth_following and self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
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lead_distance = self.starpilot_planner.lead_one.dRel
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v_lead = self.starpilot_planner.lead_one.vLead
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closing_speed = max(0.0, v_ego - v_lead)
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desired_gap = float(desired_follow_distance(v_ego, v_lead, self.t_follow))
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self.disable_throttle = should_disable_far_lead_throttle(v_ego, lead_distance, desired_gap, closing_speed, self.following_lead)
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if long_control_active and self.starpilot_planner.tracking_lead:
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self.update_follow_values(self.starpilot_planner.lead_one.dRel, v_ego, self.starpilot_planner.lead_one.vLead, starpilot_toggles)
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self.desired_follow_distance = int(desired_follow_distance(v_ego, self.starpilot_planner.lead_one.vLead, self.t_follow))
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else:
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self.desired_follow_distance = 0
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def update_follow_values(self, lead_distance, v_ego, v_lead, starpilot_toggles):
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if starpilot_toggles.conditional_slower_lead and v_lead < v_ego:
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distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
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braking_offset = float(np.clip(min(v_ego - v_lead, v_lead) - COMFORT_BRAKE, 1, distance_factor))
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self.slower_lead = braking_offset > 1
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