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Lateral Planner: read params every 2.5 second (#197)

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* Lateral Planner: read params every 2.5 second

* Check every 2.5 second

* add all params here
This commit is contained in:
Jason Wen
2023-06-27 23:43:09 -04:00
committed by GitHub
parent 938a64620f
commit 89e28560c0
1 changed files with 10 additions and 7 deletions
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selfdrive/controls/lib/desire_helper.py
+10 -7
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@@ -54,21 +54,26 @@ class DesireHelper:
self.lane_change_wait_timer = 0
self.prev_lane_change = False
self.road_edge = False
self.count = 0
self.param_read_counter = 0
self.read_param()
self.edge_toggle = self.param_s.get("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")
def read_param(self):
self.edge_toggle = self.param_s.get("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")
def update(self, carstate, lateral_active, lane_change_prob, model_data):
self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
if self.param_read_counter % 50 == 0:
self.read_param()
self.param_read_counter += 1
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_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
if self.count % 200 == 0:
self.edge_toggle = self.param_s.get("RoadEdge")
# Lane detection by FrogAi
if not self.edge_toggle:
self.road_edge = False
@@ -177,5 +182,3 @@ class DesireHelper:
self.keep_pulse_timer = 0.0
elif self.desire in (log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight):
self.desire = log.LateralPlan.Desire.none
self.count += DT_MDL