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Merge branch 'SP-134-pause-lateral-speed' into master-dev-c3

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# Conflicts:
#	selfdrive/controls/lib/desire_helper.py
This commit is contained in:
Jason Wen
2024-05-29 22:31:09 -04:00
parent c8257721b6 999ac0b8b7
commit 4b62be024c
1 changed files with 2 additions and 8 deletions
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selfdrive/controls/lib/desire_helper.py
+2 -8
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@@ -60,22 +60,18 @@ class DesireHelper:
self.road_edge = False
self.param_read_counter = 0
self.read_param()
self.is_metric = self.param_s.get_bool("IsMetric")
self.edge_toggle = self.param_s.get_bool("RoadEdge")
self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
self.pause_lateral_speed = self.param_s.get("PauseLateralSpeed", encoding="utf8")
self.custom_model, self.model_gen = get_model_generation(self.param_s)
model_capabilities = ModelCapabilities.get_by_gen(self.model_gen)
self.model_use_lateral_planner = self.custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution
def read_param(self):
self.is_metric = self.param_s.get_bool("IsMetric")
self.edge_toggle = self.param_s.get_bool("RoadEdge")
self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
self.pause_lateral_speed = self.param_s.get("PauseLateralSpeed", encoding="utf8")
def update(self, carstate, lateral_active, lane_change_prob, model_data=None, lat_plan_sp=None):
if self.param_read_counter % 50 == 0:
@@ -84,14 +80,12 @@ class DesireHelper:
lane_change_auto_timer = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer, 2.0)
v_ego = carstate.vEgo
one_blinker = carstate.leftBlinker != carstate.rightBlinker
below_lateral_speed = LANE_CHANGE_SPEED_MIN if not self.pause_lateral_speed else \
float(self.pause_lateral_speed) * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS)
below_lane_change_speed = v_ego < below_lateral_speed
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
if self.model_use_lateral_planner:
self.road_edge = get_road_edge(carstate, model_data, self.edge_toggle)
if not carstate.madsEnabled or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.lane_change_set_timer == -1:
if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.lane_change_set_timer == -1:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.prev_lane_change = False