From 3c168d0975356c0557b838cd3db99a04b652fc79 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 6 Aug 2024 20:22:10 -0400 Subject: [PATCH] send it --- cereal/custom.capnp | 1 + common/params.cc | 1 + .../lib/longitudinal_mpc_lib/long_mpc.py | 8 +++++++- .../controls/lib/longitudinal_planner.py | 20 ++++++++++++++++--- selfdrive/controls/plannerd.py | 2 +- .../offroad/settings/sunnypilot_settings.cc | 8 +++++++- 6 files changed, 34 insertions(+), 6 deletions(-) diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 8825cf6f07..8bcf50f34e 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -16,6 +16,7 @@ enum LongitudinalPersonalitySP { moderate @1; standard @2; relaxed @3; + overtake @4; } enum AccelerationPersonality { diff --git a/common/params.cc b/common/params.cc index 1f71c36df1..92c2742921 100644 --- a/common/params.cc +++ b/common/params.cc @@ -291,6 +291,7 @@ std::unordered_map keys = { {"OsmLocationUrl", PERSISTENT}, {"OsmWayTest", PERSISTENT}, {"OsmDownloadedDate", PERSISTENT}, + {"OvertakingAccelerationAssist", PERSISTENT}, {"PathOffset", PERSISTENT | BACKUP}, {"PauseLateralSpeed", PERSISTENT | BACKUP}, {"QuietDrive", PERSISTENT | BACKUP}, diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index a2df527a55..0c67119d14 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/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) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 852a6bd1bf..9c5b770433 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/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) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 6c51b38b13..daef841c19 100755 --- a/selfdrive/controls/plannerd.py +++ b/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: diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc index c363e78844..2bbbbc8872 100644 --- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnypilot_settings.cc +++ b/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());