dragonpilot beta3

date: 2023-08-22T14:36:40
commit: 6882c14d98c8759148d4c762fbffd3e254d2d34a

body/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[8] = "501626f0";
+const uint8_t gitversion[8] = "bbab69eb";

panda/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[] = "DEV-501626f0-DEBUG";
+const uint8_t gitversion[] = "DEV-bbab69eb-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-501626f0-DEBUG
+DEV-bbab69eb-DEBUG

selfdrive/car/toyota/carstate.py

@@ -263,13 +263,7 @@ class CarState(CarStateBase):
       messages.append(("BSM", 1))
 
     if dp_toyota_enhanced_bsm:
-        signals +=[
-         ("BLINDSPOT", "DEBUG"),
-         ("BLINDSPOTSIDE", "DEBUG"),
-         ("BLINDSPOTD1", "DEBUG"),
-         ("BLINDSPOTD2", "DEBUG"),
-        ]
-        checks.append(("DEBUG", 65))
+      messages.append(("DEBUG", 65))
 
     if CP.carFingerprint in RADAR_ACC_CAR:
       if not CP.flags & ToyotaFlags.SMART_DSU.value:

selfdrive/controls/lib/road_edge_detector.py

@@ -0,0 +1,31 @@
+import numpy as np
+
+class RoadEdgeDetector:
+
+  def __init__(self):
+    self._is_enabled = False
+
+  def get_road_edge_detected(self, road_edge_stds, lane_line_probs, left_blinker, right_blinker):
+    if not self._is_enabled:
+      return False, False
+
+    # Calculate probabiities for detecting road edges and lane lines
+    left_road_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    left_lane_nearside_prob = lane_line_probs[0]
+
+    right_road_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    right_lane_nearside_prob = lane_line_probs[3]
+
+    # Check conditions for detecting road edges
+    if right_blinker and right_road_edge_prob > 0.35 and right_lane_nearside_prob < 0.2 and left_lane_nearside_prob >= right_lane_nearside_prob:
+      return False, True
+    if left_blinker and left_road_edge_prob > 0.35 and left_lane_nearside_prob < 0.2 and right_lane_nearside_prob >= left_lane_nearside_prob:
+      return True, False
+
+    return False, False
+
+  def set_enabled(self, enabled):
+    self._is_enabled = enabled
+
+  def is_enabled(self):
+    return self._is_enabled