fix

cereal/custom.capnp

@@ -40,6 +40,7 @@ struct ControlsStateSP @0x81c2f05a394cf4af {
   personality @8 :LongitudinalPersonalitySP;
   dynamicPersonality @9 :Bool;
   accelPersonality @10 :AccelerationPersonality;
+  overtakingAccelerationAssist @11 :Bool;
 
   lateralControlState :union {
     indiState @1 :LateralINDIState;

selfdrive/controls/controlsd.py

@@ -185,6 +185,7 @@ class Controls:
                                      self.custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution
 
     self.dynamic_personality = self.params.get_bool("DynamicPersonality")
+    self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
 
     self.accel_personality = self.read_accel_personality_param()
 
@@ -811,11 +812,21 @@ class Controls:
 
     # Curvature & Steering angle
     lp = self.sm['liveParameters']
-    lp_mono_time_svs = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
+    dh = 'lateralPlanDEPRECATED' if self.model_use_lateral_planner else 'modelV2'
 
     steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
     curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
 
+    lc_svs = self.sm[dh]
+    long_plan = self.sm['longitudinalPlan'].hasLead
+    dm_state = self.sm['driverMonitoringState']
+    overtaking_accel_allowed = ((lc_svs.laneChangeDirection == LaneChangeDirection.right and dm_state.isRHD) or
+                                (lc_svs.laneChangeDirection == LaneChangeDirection.left and not dm_state.isRHD)) and \
+                               (lc_svs.laneChangeState in (LaneChangeState.preLaneChange, LaneChangeState.laneChangeStarting))
+    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)
+
     # controlsState
     dat = messaging.new_message('controlsState')
     dat.valid = CS.canValid
@@ -830,7 +841,7 @@ class Controls:
       controlsState.alertSound = current_alert.audible_alert
 
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
-    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[lp_mono_time_svs]
+    controlsState.lateralPlanMonoTime = self.sm.logMonoTime[dh]
     controlsState.enabled = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.enabled or CS.cruiseState.enabled) and CS.gearShifter not in [GearShifter.park, GearShifter.reverse]
     controlsState.active = not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and (self.active or CS.cruiseState.enabled)
     controlsState.curvature = curvature
@@ -868,6 +879,7 @@ class Controls:
     controlsStateSP.personality = self.personality
     controlsStateSP.dynamicPersonality = self.dynamic_personality
     controlsStateSP.accelPersonality = self.accel_personality
+    controlsStateSP.overtakingAccelerationAssist = overtaking_accel_engaged
 
     if self.enable_nnff and lat_tuning == 'torque':
       controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
@@ -934,6 +946,7 @@ class Controls:
 
       self.reverse_acc_change = self.params.get_bool("ReverseAccChange")
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.overtaking_accel = self.params.get_bool("OvertakingAccelerationAssist")
 
       if self.sm.frame % int(2.5 / DT_CTRL) == 0:
         self.live_torque = self.params.get_bool("LiveTorque")

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -67,7 +67,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     return 0.6
   elif personality==custom.LongitudinalPersonalitySP.overtake:
-    return 0.25
+    return 0.1
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -36,8 +36,6 @@ _A_TOTAL_MAX_BP = [20., 40.]
 
 
 EventName = car.CarEvent.EventName
-LaneChangeState = log.LaneChangeState
-LaneChangeDirection = log.LaneChangeDirection
 
 
 def get_max_accel(v_ego):
@@ -104,8 +102,6 @@ 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"))
@@ -113,8 +109,6 @@ 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
@@ -174,13 +168,6 @@ 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
@@ -203,6 +190,7 @@ 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)
 
+    overtaking_accel_engaged = sm['controlsStateSP'].overtakingAccelerationAssist
     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)

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

@@ -372,6 +372,7 @@ SunnypilotPanel::SunnypilotPanel(QWidget *parent) : QFrame(parent) {
   toggles["EnableMads"]->setConfirmation(true, false);
   toggles["EndToEndLongAlertLight"]->setConfirmation(true, false);
   toggles["CustomOffsets"]->showDescription();
+  toggles["OvertakingAccelerationAssist"]->setConfirmation(true, false);
 
   connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, mads_settings, &MadsSettings::updateToggles);
   connect(toggles["EnableMads"], &ToggleControlSP::toggleFlipped, [=](bool state) {