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only trigger once?

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This commit is contained in:
Jason Wen
2024-08-10 11:57:35 -04:00
parent e2fd3e109b
commit 150609dc83
1 changed files with 12 additions and 4 deletions
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selfdrive/controls/controlsd.py
+12 -4
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@@ -188,6 +188,9 @@ class Controls:
self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
self.overtaking_accel_engaged = False
self.prev_overtaking_accel_engaged = False
self.overtaking_accel_allowed = False
self.prev_overtaking_accel_allowed = False
self.overtaking_accel_blocked = False
self.accel_personality = self.read_accel_personality_param()
@@ -823,16 +826,21 @@ class Controls:
long_plan = self.sm['longitudinalPlan']
dm_state = self.sm['driverMonitoringState']
blinker_svs = lat_plan if self.model_use_lateral_planner else model_v2.meta
overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
(blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
(blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting))
self.prev_overtaking_accel_allowed = self.overtaking_accel_allowed
if not self.overtaking_accel_allowed and not self.prev_overtaking_accel_allowed:
self.overtaking_accel_blocked = False
self.overtaking_accel_allowed = ((blinker_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
(blinker_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
(blinker_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting)) and \
not self.overtaking_accel_blocked
self.prev_overtaking_accel_engaged = self.overtaking_accel_engaged
ttc = self.sm['radarState'].leadOne.dRel / CS.vEgo if CS.vEgo > 0 else 255
overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and \
overtaking_accel_engaged = self.overtaking_accel and self.overtaking_accel_allowed and \
(CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and \
not (CS.leftBlinker and CS.rightBlinker)
if ttc < 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
overtaking_accel_engaged = False
self.overtaking_accel_blocked = True
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged and \
long_plan.hasLead and long_plan.aTarget > -0.1 and (0.75 < ttc < 3.0):
self.overtaking_accel_engaged = True