From 184ba93833f7addf8bb005c889c54fccf765765f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 7 May 2019 21:56:45 +0200 Subject: [PATCH 1/4] Install newer pip version in CI (#627) * Update pip in CI * Longer timeout for docker build * Increase travis timeout * revert changes to travis file --- Dockerfile.openpilot | 1 + 1 file changed, 1 insertion(+) diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index bdab4e041..62c655d7c 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -21,6 +21,7 @@ RUN apt-get update && apt-get install -y \ ocl-icd-opencl-dev \ opencl-headers +RUN pip install --upgrade pip==18.0 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2 COPY requirements_openpilot.txt /tmp/ From 1da59216b04969a05dafabf3015a96abead40cd8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 7 May 2019 22:27:23 -0700 Subject: [PATCH 2/4] Cleanup Toyota LDW --- selfdrive/controls/controlsd.py | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d07ccdcca..31dcbef07 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -11,6 +11,7 @@ import selfdrive.messaging as messaging from selfdrive.config import Conversions as CV from selfdrive.services import service_list from selfdrive.car.car_helpers import get_car +from selfdrive.controls.lib.model_parser import CAMERA_OFFSET from selfdrive.controls.lib.drive_helpers import learn_angle_model_bias, \ get_events, \ create_event, \ @@ -305,12 +306,21 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis CC.hudControl.speedVisible = isEnabled(state) CC.hudControl.lanesVisible = isEnabled(state) CC.hudControl.leadVisible = plan.hasLead - CC.hudControl.rightLaneVisible = bool(path_plan.pathPlan.rProb > 0.5) - CC.hudControl.leftLaneVisible = bool(path_plan.pathPlan.lProb > 0.5) + + right_lane_visible = path_plan.pathPlan.rProb > 0.5 + left_lane_visible = path_plan.pathPlan.lProb > 0.5 + + CC.hudControl.rightLaneVisible = bool(right_lane_visible) + CC.hudControl.leftLaneVisible = bool(left_lane_visible) + + blinker = CS.leftBlinker or CS.rightBlinker + ldw_allowed = CS.vEgo > 12.5 and not blinker + if len(list(path_plan.pathPlan.rPoly)) == 4: - CC.hudControl.rightLaneDepart = bool(path_plan.pathPlan.rPoly[3] > -1.11 and not CS.rightBlinker and CS.vEgo > 12.5 and path_plan.pathPlan.rProb > 0.5) # Speed needs to be above 12.5m/s for LDA and only if blinker if off + CC.hudControl.rightLaneDepart = bool(ldw_allowed and path_plan.pathPlan.rPoly[3] > -(1 + CAMERA_OFFSET) and right_lane_visible) if len(list(path_plan.pathPlan.lPoly)) == 4: - CC.hudControl.leftLaneDepart = bool(path_plan.pathPlan.lPoly[3] < 1.05 and not CS.leftBlinker and CS.vEgo > 12.5 and path_plan.pathPlan.lProb > 0.5) # CAMERA_OFFSET 6cm making it to detect if line is within 15cm of the wheel + CC.hudControl.leftLaneDepart = bool(ldw_allowed and path_plan.pathPlan.lPoly[3] < (1 - CAMERA_OFFSET) and left_lane_visible) + CC.hudControl.visualAlert = AM.visual_alert CC.hudControl.audibleAlert = AM.audible_alert From 127998ca8b2c2a7da0941ad1d28a46926682e780 Mon Sep 17 00:00:00 2001 From: Nigel Armstrong Date: Thu, 9 May 2019 16:42:14 -0700 Subject: [PATCH 3/4] Add changes to 0.5.11 release notes --- RELEASES.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index 61d905ce2..c63b3ef79 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -9,6 +9,8 @@ Version 0.5.11 (2019-04-17) * Improve performance of visiond and ui * Honda Passport 2019 support * Lexus RX Hybrid 2019 support thanks to schomems! + * Improve road selection heuristic in mapd + * Add Lane Departure Warning to dashboard for Toyota thanks to arne182 Version 0.5.10 (2019-03-19) ======================== From 98797fb24ee750ba0c9d825f9cdff581bae92ba7 Mon Sep 17 00:00:00 2001 From: Arne Schwarck Date: Tue, 14 May 2019 09:26:16 +0200 Subject: [PATCH 4/4] 1263: 8 for highlander hybrid (#642) --- selfdrive/car/toyota/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ce291ef3a..72224334a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -139,7 +139,7 @@ FINGERPRINTS = { 36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], CAR.HIGHLANDERH: [{ - 36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + 36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], }