diff --git a/body/board/obj/body.bin b/body/board/obj/body.bin index f23a2edd8..56bb06368 100755 Binary files a/body/board/obj/body.bin and b/body/board/obj/body.bin differ diff --git a/body/board/obj/body.bin.signed b/body/board/obj/body.bin.signed index 1913b5d2f..c90218370 100644 Binary files a/body/board/obj/body.bin.signed and b/body/board/obj/body.bin.signed differ diff --git a/body/board/obj/body.elf b/body/board/obj/body.elf index d355901bb..9a1fb0486 100755 Binary files a/body/board/obj/body.elf and b/body/board/obj/body.elf differ diff --git a/body/board/obj/bootstub.body.bin b/body/board/obj/bootstub.body.bin index 4d212e48f..1bbbe6ae4 100755 Binary files a/body/board/obj/bootstub.body.bin and b/body/board/obj/bootstub.body.bin differ diff --git a/body/board/obj/bootstub.body.elf b/body/board/obj/bootstub.body.elf index a4d54ddeb..071b2dc3e 100755 Binary files a/body/board/obj/bootstub.body.elf and b/body/board/obj/bootstub.body.elf differ diff --git a/body/board/obj/gitversion.h b/body/board/obj/gitversion.h index 420852029..a3ef06042 100644 --- a/body/board/obj/gitversion.h +++ b/body/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[8] = "501626f0"; +const uint8_t gitversion[8] = "bbab69eb"; diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.bin b/panda/board/jungle/obj/bootstub.panda_jungle.bin index 9680cbb15..d3d0d1d85 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.bin and b/panda/board/jungle/obj/bootstub.panda_jungle.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.elf b/panda/board/jungle/obj/bootstub.panda_jungle.elf index b360a9680..24a54030c 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.elf and b/panda/board/jungle/obj/bootstub.panda_jungle.elf differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin index ac131f0b3..d85d2a4d4 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf index ac52d910d..2eaa65ac5 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf differ diff --git a/panda/board/jungle/obj/panda_jungle.bin b/panda/board/jungle/obj/panda_jungle.bin index 6311a50ee..9da4fde56 100755 Binary files a/panda/board/jungle/obj/panda_jungle.bin and b/panda/board/jungle/obj/panda_jungle.bin differ diff --git a/panda/board/jungle/obj/panda_jungle.bin.signed b/panda/board/jungle/obj/panda_jungle.bin.signed index 2b2a9439b..98089282e 100644 Binary files a/panda/board/jungle/obj/panda_jungle.bin.signed and b/panda/board/jungle/obj/panda_jungle.bin.signed differ diff --git a/panda/board/jungle/obj/panda_jungle.elf b/panda/board/jungle/obj/panda_jungle.elf index 702c26f01..d5272d333 100755 Binary files a/panda/board/jungle/obj/panda_jungle.elf and b/panda/board/jungle/obj/panda_jungle.elf differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin b/panda/board/jungle/obj/panda_jungle_h7.bin index 1058c8eb2..59bd83b6c 100755 Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin and b/panda/board/jungle/obj/panda_jungle_h7.bin differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin.signed b/panda/board/jungle/obj/panda_jungle_h7.bin.signed index 3f4fba679..33fc66206 100644 Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin.signed and b/panda/board/jungle/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.elf b/panda/board/jungle/obj/panda_jungle_h7.elf index e4ba9f0e2..16bea877d 100755 Binary files a/panda/board/jungle/obj/panda_jungle_h7.elf and b/panda/board/jungle/obj/panda_jungle_h7.elf differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index ae2f75ea2..95c2621a8 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda.elf b/panda/board/obj/bootstub.panda.elf index 832f2392a..60063df46 100755 Binary files a/panda/board/obj/bootstub.panda.elf and b/panda/board/obj/bootstub.panda.elf differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index e3e6386a5..8c70ad93a 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.elf b/panda/board/obj/bootstub.panda_h7.elf index b47eed84a..033b7ccac 100755 Binary files a/panda/board/obj/bootstub.panda_h7.elf and b/panda/board/obj/bootstub.panda_h7.elf differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index a5266aa3f..086d3d9a4 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[] = "DEV-501626f0-DEBUG"; +const uint8_t gitversion[] = "DEV-bbab69eb-DEBUG"; diff --git a/panda/board/obj/panda.bin b/panda/board/obj/panda.bin index 61564bfe3..b18a8bebd 100755 Binary files a/panda/board/obj/panda.bin and b/panda/board/obj/panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 3b92aa346..5cf972188 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda.elf b/panda/board/obj/panda.elf index bfc783446..1b0e6ee9c 100755 Binary files a/panda/board/obj/panda.elf and b/panda/board/obj/panda.elf differ diff --git a/panda/board/obj/panda_h7.bin b/panda/board/obj/panda_h7.bin index 93b7e5d79..cd08dcf98 100755 Binary files a/panda/board/obj/panda_h7.bin and b/panda/board/obj/panda_h7.bin differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 7a913e065..617ef300a 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7.elf b/panda/board/obj/panda_h7.elf index 73c617a48..7e67cc8dd 100755 Binary files a/panda/board/obj/panda_h7.elf and b/panda/board/obj/panda_h7.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index fa2b5f434..3047165c7 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-501626f0-DEBUG \ No newline at end of file +DEV-bbab69eb-DEBUG \ No newline at end of file diff --git a/panda/board/pedal/obj/bootstub.pedal.bin b/panda/board/pedal/obj/bootstub.pedal.bin index 606b3eb88..005697293 100755 Binary files a/panda/board/pedal/obj/bootstub.pedal.bin and b/panda/board/pedal/obj/bootstub.pedal.bin differ diff --git a/panda/board/pedal/obj/bootstub.pedal.elf b/panda/board/pedal/obj/bootstub.pedal.elf index af1d07294..c0a0f8628 100755 Binary files a/panda/board/pedal/obj/bootstub.pedal.elf and b/panda/board/pedal/obj/bootstub.pedal.elf differ diff --git a/panda/board/pedal/obj/bootstub.pedal_usb.bin b/panda/board/pedal/obj/bootstub.pedal_usb.bin index 606b3eb88..005697293 100755 Binary files a/panda/board/pedal/obj/bootstub.pedal_usb.bin and b/panda/board/pedal/obj/bootstub.pedal_usb.bin differ diff --git a/panda/board/pedal/obj/bootstub.pedal_usb.elf b/panda/board/pedal/obj/bootstub.pedal_usb.elf index d3506fe61..efcd8c36a 100755 Binary files a/panda/board/pedal/obj/bootstub.pedal_usb.elf and b/panda/board/pedal/obj/bootstub.pedal_usb.elf differ diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 2dbfabcaa..cec1bef6c 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/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: diff --git a/selfdrive/controls/lib/road_edge_detector.py b/selfdrive/controls/lib/road_edge_detector.py new file mode 100644 index 000000000..6d05eb0e8 --- /dev/null +++ b/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