mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-08-05 16:26:10 +08:00
Code Issues Packages Projects Releases Wiki Activity

Speed Limit Assist: lower preActive timer for Non PCM Longitudinal and ICBM cars (#1403)

Browse Source 
5 seconds preActive for non pcm long now
This commit is contained in:
Jason Wen
2025-10-17 23:41:33 -04:00
committed by GitHub
parent 72282f2d2e
commit 523c92c6fe
2 changed files with 14 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_assist.py
+12 -8
View File
@@ -27,7 +27,11 @@ ACTIVE_STATES = (SpeedLimitAssistState.active, SpeedLimitAssistState.adapting)
ENABLED_STATES = (SpeedLimitAssistState.preActive, SpeedLimitAssistState.pending, *ACTIVE_STATES)
DISABLED_GUARD_PERIOD = 0.5 # secs.
PRE_ACTIVE_GUARD_PERIOD = 15 # secs. Time to wait after activation before considering temp deactivation signal.
# secs. Time to wait after activation before considering temp deactivation signal.
PRE_ACTIVE_GUARD_PERIOD = {
True: 15,
False: 5,
}
SPEED_LIMIT_CHANGED_HOLD_PERIOD = 1 # secs. Time to wait after speed limit change before switching to preActive.
LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide.
@@ -241,7 +245,7 @@ class SpeedLimitAssist:
self.state = SpeedLimitAssistState.inactive
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
elif self._has_speed_limit and self.v_offset < LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.adapting
@@ -251,7 +255,7 @@ class SpeedLimitAssist:
self.state = SpeedLimitAssistState.inactive
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
elif self.v_offset >= LIMIT_SPEED_OFFSET_TH:
self.state = SpeedLimitAssistState.active
@@ -261,7 +265,7 @@ class SpeedLimitAssist:
self._update_confirmed_state()
elif self.speed_limit_changed:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
# PRE_ACTIVE
elif self.state == SpeedLimitAssistState.preActive:
@@ -287,7 +291,7 @@ class SpeedLimitAssist:
self._update_confirmed_state()
elif self._has_speed_limit:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
else:
self.state = SpeedLimitAssistState.pending
@@ -313,7 +317,7 @@ class SpeedLimitAssist:
elif self.speed_limit_changed and self.apply_confirm_speed_threshold:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
# PRE_ACTIVE
elif self.state == SpeedLimitAssistState.preActive:
@@ -327,7 +331,7 @@ class SpeedLimitAssist:
elif self.state == SpeedLimitAssistState.inactive:
if self.speed_limit_changed:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
elif self._update_non_pcm_long_confirmed_state():
self.state = SpeedLimitAssistState.active
@@ -343,7 +347,7 @@ class SpeedLimitAssist:
self.state = SpeedLimitAssistState.active
elif self._has_speed_limit:
self.state = SpeedLimitAssistState.preActive
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.pcm_op_long] / DT_MDL)
else:
self.state = SpeedLimitAssistState.inactive
sunnypilot/selfdrive/controls/lib/speed_limit/tests/test_speed_limit_assist.py
+2 -2
View File
@@ -39,7 +39,7 @@ class TestSpeedLimitAssist:
self.events_sp = EventsSP()
CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
self.sla = SpeedLimitAssist(CI.CP)
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)
self.pcm_long_max_set_speed = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric][1] # use 80 MPH for now
self.speed_conv = CV.MS_TO_KPH if self.sla.is_metric else CV.MS_TO_MPH
@@ -114,7 +114,7 @@ class TestSpeedLimitAssist:
self.sla.state = SpeedLimitAssistState.preActive
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
for _ in range(int(PRE_ACTIVE_GUARD_PERIOD[self.sla.pcm_op_long] / DT_MDL)):
self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
assert self.sla.state == SpeedLimitAssistState.inactive