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Merge branch 'hkg-can-jerk' into master-dev-c3

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Jason Wen
2024-08-10 11:57:57 -04:00
parent 26e0c38d09 150609dc83
commit 5515c6604a
2 changed files with 18 additions and 9 deletions
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selfdrive/controls/controlsd.py
+17 -8
View File
@@ -191,6 +191,9 @@ 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()
@@ -828,17 +831,23 @@ 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 \
(CS.vEgo > ((60 * CV.KPH_TO_MS) if self.is_metric else (40 * CV.MPH_TO_MS))) and long_plan.hasLead and \
long_plan.aTarget > -0.2 and not (CS.leftBlinker and CS.rightBlinker) and (0.75 < ttc < 3.0)
if ttc <= 0.75 and self.prev_overtaking_accel_engaged and overtaking_accel_engaged:
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
if overtaking_accel_engaged and not self.prev_overtaking_accel_engaged:
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
elif not overtaking_accel_engaged:
self.overtaking_accel_engaged = False
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+1 -1
View File
@@ -82,7 +82,7 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
elif personality==custom.LongitudinalPersonalitySP.aggressive:
return 1.0
elif personality==custom.LongitudinalPersonalitySP.overtake:
return 0.3
return 0.25
else:
raise NotImplementedError("Longitudinal personality not supported")