send it

cereal/custom.capnp

@@ -16,6 +16,7 @@ enum LongitudinalPersonalitySP {
   moderate @1;
   standard @2;
   relaxed @3;
+  overtake @4;
 }
 
 enum AccelerationPersonality {

common/params.cc

@@ -291,6 +291,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OsmLocationUrl", PERSISTENT},
     {"OsmWayTest", PERSISTENT},
     {"OsmDownloadedDate", PERSISTENT},
+    {"OvertakingAccelerationAssist", PERSISTENT},
     {"PathOffset", PERSISTENT | BACKUP},
     {"PauseLateralSpeed", PERSISTENT | BACKUP},
     {"QuietDrive", PERSISTENT | BACKUP},

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -66,6 +66,8 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
     return 0.8
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     return 0.6
+  elif personality==custom.LongitudinalPersonalitySP.overtake:
+    return 0.25
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
@@ -79,6 +81,8 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
     return 1.25
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     return 1.0
+  elif personality==custom.LongitudinalPersonalitySP.overtake:
+    return 0.5
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
@@ -358,9 +362,11 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard, dynamic_personality=False):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=custom.LongitudinalPersonalitySP.standard,
+             dynamic_personality=False, overtaking_acceleration_assist=False):
     v_ego = self.x0[1]
     t_follow = get_dynamic_personality(v_ego, personality) if dynamic_personality else get_T_FOLLOW(personality)
+    t_follow = get_T_FOLLOW(custom.LongitudinalPersonalitySP.overtake) if overtaking_acceleration_assist else t_follow
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
     lead_xv_0 = self.process_lead(radarstate.leadOne)

selfdrive/controls/lib/longitudinal_planner.py

@@ -3,7 +3,7 @@ import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
-from cereal import car
+from cereal import car, custom
 
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -36,6 +36,8 @@ _A_TOTAL_MAX_BP = [20., 40.]
 
 
 EventName = car.CarEvent.EventName
+LaneChangeState = log.LaneChangeState
+LaneChangeDirection = log.LaneChangeDirection
 
 
 def get_max_accel(v_ego):
@@ -102,6 +104,8 @@ class LongitudinalPlanner:
     self.dynamic_experimental_controller = DynamicExperimentalController()
     self.accel_controller = AccelController()
 
+    self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
+
   def read_param(self):
     try:
       self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl"))
@@ -109,6 +113,8 @@ class LongitudinalPlanner:
       self.dynamic_experimental_controller = DynamicExperimentalController()
       self.accel_controller = AccelController()
 
+    self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
+
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
@@ -168,6 +174,13 @@ class LongitudinalPlanner:
         accel_limits = [ACCEL_MIN, ACCEL_MAX]
         accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
+    lat_plan = sm['lateralPlanDEPRECATED']
+    dm_state = sm['driverMonitoringState']
+    overtaking_accel_allowed = ((lat_plan.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
+                                (lat_plan.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
+                               (lat_plan.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting))
+    overtaking_accel_engaged = self.overtaking_accel and overtaking_accel_allowed and v_ego > 40 * CV.MPH_TO_MS
+
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
@@ -190,11 +203,12 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=custom.LongitudinalPersonalitySP.overtake if overtaking_accel_engaged else sm['controlsStateSP'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality, dynamic_personality=sm['controlsStateSP'].dynamicPersonality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality,
+                    dynamic_personality=sm['controlsStateSP'].dynamicPersonality, overtaking_acceleration_assist=overtaking_accel_engaged)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)

selfdrive/controls/plannerd.py

@@ -32,7 +32,7 @@ def plannerd_thread():
   pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
                             'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
-                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
+                            'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP', 'driverMonitoringState'] + lateral_planner_svs,
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:

selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc

@@ -49,6 +49,12 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
       tr("While in Auto Lane, switch to Laneless for current/future curves."),
       "../assets/offroad/icon_blank.png",
     },
+    {
+      "OvertakingAccelerationAssist",
+      tr("Overtaking Acceleration Assist"),
+      tr("Overtaking Acceleration Assist will operate when the turn signal indicator is turned on to the left (left-hand drive) or turned on to the right (right-hand drive) while Smart Cruise Control is operating."),
+      "../assets/offroad/icon_blank.png",
+    },
     {
       "EnableSlc",
       tr("Speed Limit Control (SLC)"),
@@ -298,7 +304,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
       list->addItem(dlp_settings);
     }
 
-    if (param == "VisionCurveLaneless") {
+    if (param == "OvertakingAccelerationAssist") {
       list->addItem(laneChangeSettingsLayout);
       list->addItem(horizontal_line());