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激光雷达使用不同的盲区延时和动态盲区时距参数

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openpilot
2026-03-19 00:02:15 +08:00
parent 7515f610f4
commit daae207961
3 changed files with 87 additions and 27 deletions
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selfdrive/carrot/amap_navi.py
+26 -18
View File
@@ -206,11 +206,15 @@ class AmapNaviServ:
self.rightFrontTarget = RadarSpeedEstimator()
self.rightBehindTarget = RadarSpeedEstimator()
self.min_drel_vego_time = 1.0
self.min_vrel_vego_time = 1.0
self.sideBsdDelayTime = 2.
self.sideRelDistTime = 1.
self.sidevRelDistTime = 1.
self.min_front_drel_vego_time = 3.0
self.min_front_vrel_vego_time = 3.0
self.min_behind_drel_vego_time = 3.0
self.min_behind_vrel_vego_time = 3.0
self.lidarBsdDelayTime = 1.
self.lidarFrontVDistTime = 3.
self.lidarFrontVRelDistTime = 3.
self.lidarBehindVDistTime = 3.
self.lidarBehindVRelDistTime = 3.
self.disableBlindSpot = False
self.dynamicBlindRange = 0
self.dynamicBlindDistance = 0
@@ -275,12 +279,16 @@ class AmapNaviServ:
def update_param(self):
if self.frame % 100 == 0:
self.sideBsdDelayTime = self.params.get_int("SideBsdDelayTime") * 0.1
self.sideRelDistTime = self.params.get_int("SideRelDistTime") * 0.1
self.sidevRelDistTime = self.params.get_int("SidevRelDistTime") * 0.1
self.min_drel_vego_time = self.sideRelDistTime
self.min_vrel_vego_time = self.sidevRelDistTime
self.min_object_detected_count_thr = int(-1 * self.sideBsdDelayTime / DT_BROADCAST)
self.lidarBsdDelayTime = self.params.get_int("LidarBsdDelayTime") * 0.1
self.lidarFrontVDistTime = self.params.get_int("LidarFrontVDistTime") * 0.1
self.lidarFrontVRelDistTime = self.params.get_int("LidarFrontVRelDistTime") * 0.1
self.lidarBehindVDistTime = self.params.get_int("LidarBehindVDistTime") * 0.1
self.lidarBehindVRelDistTime = self.params.get_int("LidarBehindVRelDistTime") * 0.1
self.min_front_drel_vego_time = self.lidarFrontVDistTime
self.min_front_vrel_vego_time = self.lidarFrontVRelDistTime
self.min_behind_drel_vego_time = self.lidarBehindVDistTime
self.min_behind_vrel_vego_time = self.lidarBehindVRelDistTime
self.min_object_detected_count_thr = int(-1 * self.lidarBsdDelayTime / DT_BROADCAST)
self.disableBlindSpot = self.params.get_bool("DisableBlindSpot")
self.dynamicBlindRange = self.params.get_int("DynamicBlindRange")
self.dynamicBlindDistance = self.params.get_int("DynamicBlindDistance")
@@ -896,9 +904,9 @@ class AmapNaviServ:
self.shared_data.lb_vrel = self.leftFrontTarget.update(lb_dreltmp, dist_timems)
#动态时距盲区判断
self.lf_object_detected = self.is_side_object_risky(lf_dreltmp, self.shared_data.lf_vrel, self.shared_data.v_ego_m,
self.min_vrel_vego_time, self.min_drel_vego_time)
self.min_front_vrel_vego_time, self.min_front_drel_vego_time)
self.lb_object_detected = self.is_side_object_risky(lb_dreltmp, self.shared_data.lb_vrel, self.shared_data.v_ego_m,
self.min_vrel_vego_time, self.min_drel_vego_time)
self.min_behind_vrel_vego_time, self.min_behind_drel_vego_time)
if detect_side & 2:
# 右前方
if rf_drel is None: rf_drel = old_info.get("rf_drel", None) # 距离数据消抖
@@ -924,13 +932,13 @@ class AmapNaviServ:
self.shared_data.rb_vrel = self.rightBehindTarget.update(rb_dreltmp, dist_timems)
#动态时距盲区判断
self.rf_object_detected = self.is_side_object_risky(rf_dreltmp, self.shared_data.rf_vrel, self.shared_data.v_ego_m,
self.min_vrel_vego_time, self.min_drel_vego_time)
self.min_front_vrel_vego_time, self.min_front_drel_vego_time)
self.rb_object_detected = self.is_side_object_risky(rb_dreltmp, self.shared_data.rb_vrel, self.shared_data.v_ego_m,
self.min_vrel_vego_time, self.min_drel_vego_time)
self.min_behind_vrel_vego_time, self.min_behind_drel_vego_time)
#self.rb_object_detected = self.is_side_object_risky_debug(rb_drel, self.shared_data.rb_vrel,
# self.shared_data.v_ego_m,
# self.min_vrel_vego_time,
# self.min_drel_vego_time, "RB")
# self.min_front_vrel_vego_time,
# self.min_front_drel_vego_time, "RB")
# 通讯时间检查
now = time.time()
@@ -1091,7 +1099,7 @@ class AmapNaviServ:
danger_dist = max(v_ego_mps * min_drel_scale, 15)
# 未来距离预测
future_dist = drel - closing_speed * time_horizon * 3
future_dist = drel - closing_speed * time_horizon #* 3
# 判定规则：
# 1) 未来距离过小（可调阈值 3~5m，我设成 4m)
selfdrive/carrot/config.py
+7
View File
@@ -156,6 +156,13 @@ class UnifiedParams:
"SideRelDistTime": 10,
"SidevRelDistTime": 10,
"SideRadarMinDist": 0,
"LidarBsdDelayTime": 10,
"LidarFrontVDistTime": 10,
"LidarFrontvRelDistTime": 30,
"LidarBehindVDistTime": 10,
"LidarBehindvRelDistTime": 30,
"AutoTurnInNotRoadEdge": 1,
"ContinuousLaneChange": 1,
"ContinuousLaneChangeCnt": 4,
selfdrive/carrot/nav_params.html
+54 -9
View File
@@ -561,34 +561,34 @@
category: "公共参数设置"
},
"BsdDelayTime": {
chineseName: "后盲区有车延时(20x0.1s)",
chineseName: "原车雷达后盲区有车延时(x0.1s)",
defaultValue: 20,
description: "当后盲区有车信号消失后，经过延时的秒数后允许变道",
description: "当原车雷达后盲区有车信号消失后，经过延时的秒数后允许变道",
inputRange: [0, 100],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"SideBsdDelayTime": {
chineseName: "侧前方有车延时(20x0.1s)",
chineseName: "原车雷达侧前方有车延时(x0.1s)",
defaultValue: 20,
description: "当侧前方有车信号消失后，经过延时的秒数后允许变道",
description: "当原车雷达侧前方有车信号消失后，经过延时的秒数后允许变道",
inputRange: [0, 100],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"SideRelDistTime": {
chineseName: "侧前方有车变道相对距离",
chineseName: "原车雷达侧前方有车变道绝对速度时距(x0.1s)",
defaultValue: 10,
description: "当与侧前方车辆相对距离小于本车速度x时间时不允许变道，单位0.1秒",
description: "当与原车雷达侧前方车辆的距离大于'本车速度x时间'时允许变道，单位0.1秒",
inputRange: [0, 50],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"SidevRelDistTime": {
chineseName: "侧前方有车变道等效距离",
chineseName: "原车雷达侧前方有车允许变道相对速度时距(x0.1s)",
defaultValue: 10,
description: "侧前方车辆速度x3+相对距离小于本车速度x(时间+3)时，不允许变道，单位0.1秒",
inputRange: [0, 50],
@@ -597,14 +597,59 @@
category: "公共参数设置"
},
"SideRadarMinDist": {
chineseName: "侧面最小雷达距离(0m)",
chineseName: "原车雷达侧前方最小距离过滤(0m)",
defaultValue: 0,
description: "在左右两侧的车道上，忽略小于此雷达探测距离的车辆，单位为0.1m",
description: "在原车雷达探测左右车道侧前方车辆时，小于设定距离的目标会被忽略，单位为0.1m",
inputRange: [-50, 100],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"LidarBsdDelayTime": {
chineseName: "激光雷达侧面车道有车延时(x0.1s)",
defaultValue: 20,
description: "当激光雷达探测侧面车道有车信号消失后，经过延时的秒数后允许变道",
inputRange: [0, 100],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"LidarFrontVDistTime": {
chineseName: "激光雷达侧前方有车允许变道绝对速度时距(x0.1s)",
defaultValue: 10,
description: "当与激光雷达侧前方车辆的距离大于'本车速度x时间'时允许变道，单位0.1秒",
inputRange: [0, 50],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"LidarFrontvRelDistTime": {
chineseName: "激光雷达侧前方有车允许变道相对速度时距(x0.1s)",
defaultValue: 30,
description: "当'本车相对于侧前方车辆的速度差x时间'小于两车距离时，允许变道，单位0.1秒",
inputRange: [0, 200],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"LidarBehindVDistTime": {
chineseName: "激光雷达侧后方有车允许变道的绝对速度时距(x0.1s)",
defaultValue: 10,
description: "当与激光雷达侧后方车辆的距离大于'对方速度x时间'时允许变道，单位0.1秒",
inputRange: [0, 50],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"LidarBehindvRelDistTime": {
chineseName: "激光雷达侧后方有车允许变道的相对速度时距(x0.1s)",
defaultValue: 30,
description: "当'侧后方车辆的相对于本车的速度差x时间'小于两车距离时，允许变道，单位0.1秒",
inputRange: [0, 200],
step: 1,
uiType: "number",
category: "公共参数设置"
},
"DynamicExperimentalSpeed": {
chineseName: "实验模式:条件实验模式速度(-5)",
defaultValue: -5,