mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-24 01:43:44 +08:00
Kumar
2d859a8ca6
* relc * so picky * clean up * switch to distance based * same calls * all you brother i'm just here to red diff --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
105 lines
4.9 KiB
Python
105 lines
4.9 KiB
Python
from openpilot.cereal import log, custom
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from openpilot.common.constants import CV
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from openpilot.common.realtime import DT_MDL
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from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
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from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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TurnDirection = custom.ModelDataV2SP.TurnDirection
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LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
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LANE_CHANGE_TIME_MAX = 10.
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LANE_CHANGE_START_TIME = 0.5
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TURN_DESIRES = {
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TurnDirection.none: log.Desire.none,
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TurnDirection.turnLeft: log.Desire.turnLeft,
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TurnDirection.turnRight: log.Desire.turnRight,
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}
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class DesireHelper:
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def __init__(self):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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self.prev_one_blinker = False
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self.desire = log.Desire.none
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self.alc = AutoLaneChangeController(self)
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self.lane_turn_controller = LaneTurnController(self)
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self.lane_turn_direction = TurnDirection.none
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@staticmethod
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def get_lane_change_direction(CS):
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return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
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def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
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self.alc.update_params()
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self.lane_turn_controller.update_params()
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v_ego = carstate.vEgo
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one_blinker = carstate.leftBlinker != carstate.rightBlinker
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below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
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# Lane turn controller update
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self.lane_turn_controller.update_lane_turn(blindspot_left=carstate.leftBlindspot, blindspot_right=carstate.rightBlindspot,
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left_blinker=carstate.leftBlinker, right_blinker=carstate.rightBlinker, v_ego=v_ego)
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self.lane_turn_direction = self.lane_turn_controller.get_turn_direction()
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if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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else:
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if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
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self.lane_change_state = LaneChangeState.preLaneChange
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self.lane_change_timer = 0.0
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# Initialize lane change direction to prevent UI alert flicker
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self.lane_change_direction = self.get_lane_change_direction(carstate)
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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# Update lane change direction
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self.lane_change_direction = self.get_lane_change_direction(carstate)
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torque_applied = carstate.steeringPressed and \
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((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
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(carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
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blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
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((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))
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self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)
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if not one_blinker or below_lane_change_speed:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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elif (torque_applied or self.alc.auto_lane_change_allowed) and not blindspot_detected:
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self.lane_change_state = LaneChangeState.laneChangeStarting
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self.lane_change_timer = 0.0
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elif self.lane_change_state == LaneChangeState.laneChangeStarting:
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self.lane_change_timer += DT_MDL
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if lane_change_prob < 0.02 and self.lane_change_timer >= LANE_CHANGE_START_TIME:
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self.lane_change_timer = 0.0
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if one_blinker:
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self.lane_change_state = LaneChangeState.preLaneChange
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self.lane_change_direction = self.get_lane_change_direction(carstate)
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else:
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.prev_one_blinker = one_blinker and lateral_active
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if self.lane_turn_direction != TurnDirection.none:
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self.desire = TURN_DESIRES[self.lane_turn_direction]
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else:
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self.desire = log.Desire.none
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if self.lane_change_state == LaneChangeState.laneChangeStarting:
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if self.lane_change_direction == LaneChangeDirection.left:
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self.desire = log.Desire.laneChangeLeft
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elif self.lane_change_direction == LaneChangeDirection.right:
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self.desire = log.Desire.laneChangeRight
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self.alc.update_state()
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